no code implementations • 8 Oct 2023 • Amirsaeid Safari, Jesse B. Hoagg
We consider the scenario where the periodically obtained perception feedback can be used to construct a local CBF that models a local subset of the unknown safe set.
no code implementations • 30 Sep 2023 • Pedram Rabiee, Jesse B. Hoagg
Specifically, we introduce control dynamics that allow us to express the input constraints as CBFs in the closed-loop state (i. e., the state of the system and the controller).
no code implementations • 29 Aug 2023 • Pedram Rabiee, S. Alireza Seyyed Mousavi, Amelia J. S. Sheffler, Erik Hellström, Mrdjan Jankovic, Mario A. Santillo, T. M. Seigler, Jesse B. Hoagg
This article presents results from an experiment in which 44 human subjects interact with a dynamic system to perform 40 trials of a command-following task.
no code implementations • 18 May 2023 • Pedram Rabiee, Jesse B. Hoagg
The first control method relies on a soft-minimum barrier function that is constructed using a finite-time-horizon prediction of the system trajectories under a known backup control.
no code implementations • 3 Apr 2023 • Pedram Rabiee, Jesse B. Hoagg
This paper presents a new control approach for guaranteed safety (remaining in a safe set) subject to actuator constraints (the control is in a convex polytope).