Research
Research
Research
Research
324+ open-access research outputs.
Autonomous fixed-wing flight is becoming a key capability in aerial robotics, enabling sensing, mobility, and contingency operations across both small-scale Uncrewed Aircraft Systems and large-scale A…
We present a trajectory optimization algorithm for the traveling salesman problem (TSP) in graphs of convex sets (GCS). Our framework uses an augmented graph of convex sets to encode the TSP specifica…
Safety filters based on control barrier functions (CBFs) and high-order control barrier functions (HOCBFs) are often implemented through quadratic programs (QPs). In general, especially in the presenc…
We study the problem of statistically certifying viable initial sets (VISs) -- sets of initial conditions whose trajectories satisfy a given control specification. While VISs can be obtained from mode…
This paper develops a data-driven safe control framework for nonlinear discrete-time systems with parametric uncertainty and additive disturbances. The proposed approach constructs a data-consistent c…
Autonomous robots commonly aim to complete a nominal behavior while minimizing a cost; this leaves them vulnerable to failure or unplanned scenarios, where a backup or contingency plan to a safe set i…
This paper develops a method to construct robust positively invariant (RPI) tube sets from finite noisy input-state data of an unknown linear time-invariant (LTI) system, yielding tubes that can be di…
Autonomous driving in complex traffic requires planners that generalize beyond hand-crafted rules, motivating data-driven approaches that learn behavior from expert demonstrations. Diffusion-based tra…
Deformable granular terrains introduce significant locomotion and immobilization risks in planetary exploration and are difficult to detect via remote sensing (e.g., vision). Legged robots can sense t…
We present a framework to \emph{certify} Hamilton--Jacobi (HJ) reachability learned by reinforcement learning (RL). Building on a discounted initial time \emph{travel-cost} formulation that makes smal…
Gyroscopic interconnections enable redistribution of energy among degrees of freedom while preserving passivity and total energy, and they play a central role in controlled Lagrangian methods and IDA-…
Indoor micro-aerial vehicles (MAVs) are increasingly used for tasks that require close proximity to people, yet practitioners lack practical methods to tune motion limits based on measured impact risk…
We develop a learning-based framework for constructing shrinking disturbance-invariant tubes under state- and input-dependent uncertainty, intended as a building block for tube Model Predictive Contro…
Data-driven methods have become paramount in modern systems and control problems characterized by growing levels of complexity. In safety-critical environments, deploying these methods requires rigoro…
Orthopantomogram (OPGs) and Cone-Beam Computed Tomography (CBCT) are vital for dentistry, but creating large datasets for automated tooth segmentation is hindered by the labor-intensive process of man…
Control barrier functions (CBFs) are an effective model-based tool to formally certify the safety of a system. With the growing complexity of modern control problems, CBFs have received increasing att…
We introduce the class of L-functions to certify the attractivity of sets for uncertain nonlinear switched systems in discrete time. The existence of an L-function associated with a set guarantees the…
Transcatheter valve repair presents significant challenges due to the mechanical limitations and steep learning curve associated with manual catheter systems. This paper investigates the use of roboti…
We propose a method for data-driven practical stabilization of nonlinear systems with provable guarantees, based on the concept of Nonparametric Chain Policies (NCPs). The approach employs a normalize…
Ensuring the safety of complex dynamical systems often relies on Hamilton-Jacobi (HJ) Reachability Analysis or Control Barrier Functions (CBFs). Both methods require computing a function that characte…
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