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Technical Report: Convex Optimization of Nonlinear Feedback Controllers via Occupation Measures
31 May 2013
Anirudha Majumdar
Ram Vasudevan
Mark M. Tobenkin
Russ Tedrake
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Papers citing
"Technical Report: Convex Optimization of Nonlinear Feedback Controllers via Occupation Measures"
33 / 33 papers shown
Denoising Diffusion-Based Control of Nonlinear Systems
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03 Feb 2024
Verification of Neural Reachable Tubes via Scenario Optimization and Conformal Prediction
Conference on Learning for Dynamics & Control (L4DC), 2023
Albert Lin
Somil Bansal
375
39
0
14 Dec 2023
Safe Control Synthesis for Hybrid Systems through Local Control Barrier Functions
American Control Conference (ACC), 2023
Shuo Yang
Mitchell Black
Georgios Fainekos
Bardh Hoxha
Hideki Okamoto
Rahul Mangharam
301
6
0
28 Nov 2023
Toward Globally Optimal State Estimation Using Automatically Tightened Semidefinite Relaxations
IEEE Transactions on robotics (TRO), 2023
Frederike Dumbgen
Connor T. Holmes
Ben Agro
Timothy D. Barfoot
276
18
0
10 Aug 2023
Convex Geometric Motion Planning on Lie Groups via Moment Relaxation
Sangli Teng
A. Jasour
Ram Vasudevan
Maani Ghaffari
381
18
0
23 May 2023
Statistical Safety and Robustness Guarantees for Feedback Motion Planning of Unknown Underactuated Stochastic Systems
IEEE International Conference on Robotics and Automation (ICRA), 2022
Craig Knuth
Glen Chou
Jamie Reese
Joseph L. Moore
297
13
0
13 Dec 2022
Convex synthesis and verification of control-Lyapunov and barrier functions with input constraints
American Control Conference (ACC), 2022
Hongkai Dai
Frank Permenter
307
58
0
02 Oct 2022
Generating Formal Safety Assurances for High-Dimensional Reachability
IEEE International Conference on Robotics and Automation (ICRA), 2022
Albert Lin
Somil Bansal
372
28
0
25 Sep 2022
Case Studies for Computing Density of Reachable States for Safe Autonomous Motion Planning
NASA Formal Methods (NFM), 2022
Yue Meng
Zeng Qiu
Md Tawhid Bin Waez
Chuchu Fan
225
5
0
16 Sep 2022
Learning Density Distribution of Reachable States for Autonomous Systems
Yue Meng
Dawei Sun
Zeng Qiu
Md Tawhid Bin Waez
Chuchu Fan
354
21
0
14 Sep 2021
Control Occupation Kernel Regression for Nonlinear Control-Affine Systems
Moad Abudia
Tejasvi Channagiri
Joel A. Rosenfeld
R. Kamalapurkar
109
1
0
31 May 2021
Occupation Kernel Hilbert Spaces for Fractional Order Liouville Operators and Dynamic Mode Decomposition
Joel A. Rosenfeld
Benjamin P. Russo
Xiuying Li
80
1
0
26 Feb 2021
On Infusing Reachability-Based Safety Assurance within Planning Frameworks for Human-Robot Vehicle Interactions
Karen Leung
Edward Schmerling
Mengxuan Zhang
Mo Chen
J. Talbot
Chris Gerdes
Marco Pavone
LLMSV
353
111
0
06 Dec 2020
DeepReach: A Deep Learning Approach to High-Dimensional Reachability
Somil Bansal
Claire Tomlin
340
239
0
04 Nov 2020
Approximate Solutions to a Class of Reachability Games
IEEE International Conference on Robotics and Automation (ICRA), 2020
David Fridovich-Keil
Claire Tomlin
245
7
0
01 Nov 2020
Infusing Reachability-Based Safety into Planning and Control for Multi-agent Interactions
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2020
Xinrui Wang
Karen Leung
Marco Pavone
149
23
0
31 Jul 2020
Neural Lyapunov Redesign
Arash Mehrjou
Mohammad Ghavamzadeh
Bernhard Schölkopf
239
1
0
06 Jun 2020
Safe reinforcement learning for probabilistic reachability and safety specifications: A Lyapunov-based approach
Subin Huh
Insoon Yang
231
25
0
24 Feb 2020
Optimization Hierarchy for Fair Statistical Decision Problems
Annals of Statistics (Ann. Stat.), 2019
A. Aswani
Matt Olfat
686
3
0
18 Oct 2019
Walking with Confidence: Safety Regulation for Full Order Biped Models
IEEE Robotics and Automation Letters (RA-L), 2019
Nils Smit-Anseeuw
C. D. Remy
Ram Vasudevan
272
11
0
20 Mar 2019
Towards Provably Not-at-Fault Control of Autonomous Robots in Arbitrary Dynamic Environments
S. Vaskov
Shreyas Kousik
Hannah Larson
Fan Bu
James R. Ward
Stewart Worrall
Matthew Johnson-Roberson
Ram Vasudevan
200
46
0
07 Feb 2019
On Infusing Reachability-Based Safety Assurance within Probabilistic Planning Frameworks for Human-Robot Vehicle Interactions
Karen Leung
Edward Schmerling
Mo Chen
J. Talbot
J. C. Gerdes
Marco Pavone
LLMSV
217
33
0
29 Dec 2018
Bridging the Gap Between Safety and Real-Time Performance in Receding-Horizon Trajectory Design for Mobile Robots
Shreyas Kousik
S. Vaskov
Fan Bu
Matthew Johnson-Roberson
Ram Vasudevan
245
133
0
18 Sep 2018
Controller Synthesis for Discrete-time Hybrid Polynomial Systems via Occupation Measures
Weiqiao Han
Russ Tedrake
209
4
0
16 Sep 2018
Controller Synthesis for Discrete-Time Polynomial Systems via Occupation Measures
Weiqiao Han
Russ Tedrake
179
9
0
24 Mar 2018
Semidefinite Outer Approximation of the Backward Reachable Set of Discrete-time Autonomous Polynomial Systems
Weiqiao Han
Russ Tedrake
90
2
0
21 Mar 2018
A Classification-based Approach for Approximate Reachability
Vicencc Rubies-Royo
David Fridovich-Keil
Sylvia Herbert
Claire Tomlin
225
40
0
08 Mar 2018
Robust Semi-Cooperative Multi-Agent Coordination in the Presence of Stochastic Disturbances
Kunal Garg
Dongkun Han
Dimitra Panagou
213
2
0
05 Sep 2017
Online Feedback Control for Input-Saturated Robotic Systems on Lie Groups
Taosha Fan
Todd Murphey
186
13
0
31 Aug 2017
Safe Trajectory Synthesis for Autonomous Driving in Unforeseen Environments
Shreyas Kousik
S. Vaskov
Matthew Johnson-Roberson
Ram Vasudevan
198
60
0
28 Apr 2017
Using Neural Networks to Compute Approximate and Guaranteed Feasible Hamilton-Jacobi-Bellman PDE Solutions
Frank J. Jiang
Glen Chou
Mo Chen
Claire Tomlin
218
39
0
10 Nov 2016
Convex Computation of the Basin of Stability to Measure the Likelihood of Falling: A Case Study on the Sit-to-Stand Task
Victor Shia
Talia Y. Moore
R. Bajcsy
Ramanarayan Vasudevan
157
4
0
03 Apr 2016
A sampling-based approach to scalable constraint satisfaction in linear sampled-data systems---Part I: Computation
Shahab Kaynama
J. Gillula
Claire Tomlin
108
0
0
09 May 2014
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