Safe Learning of Quadrotor Dynamics Using Barrier Certificates

16 October 2017

Evangelos A. Theodorou

Papers citing "Safe Learning of Quadrotor Dynamics Using Barrier Certificates"

46 / 46 papers shown

Title
Bayesian meta learning for trustworthy uncertainty quantification Zhenyuan Yuan Thinh T. Doan UQCV 43 0 0 27 Jul 2024
Closing the Perception-Action Loop for Semantically Safe Navigation in Semi-Static Environments Jingxing Qian Siqi Zhou Nicholas Jianrui Ren Veronica Chatrath Angela P. Schoellig 46 0 0 22 Apr 2024
Learning Piecewise Residuals of Control Barrier Functions for Safety of Switching Systems using Multi-Output Gaussian Processes Mohammad Aali Jun Liu 37 0 0 26 Mar 2024
Data-Driven Distributionally Robust Safety Verification Using Barrier Certificates and Conditional Mean Embeddings Oliver Schon Zhengang Zhong Sadegh Soudjani 39 8 0 15 Mar 2024
A Survey of Offline and Online Learning-Based Algorithms for Multirotor UAVs Serhat Sönmez M. J. Rutherford K. Valavanis 38 5 0 06 Feb 2024
Learning to Navigate in Turbulent Flows with Aerial Robot Swarms: A Cooperative Deep Reinforcement Learning Approach Diego Patiño Siddharth Mayya J. Calderon Kostas Daniilidis David Saldaña 32 3 0 07 Jun 2023
SO(2)-Equivariant Downwash Models for Close Proximity Flight Henry Smith Ajay Shankar Jennifer Gielis J. Blumenkamp A. Prorok 36 7 0 30 May 2023
Learning-based Predictive Path Following Control for Nonlinear Systems Under Uncertain Disturbances Ruicong Yang Lei Zheng Jiesen Pan Hui Cheng 27 37 0 26 Dec 2022
Learning Disturbances Online for Risk-Aware Control: Risk-Aware Flight with Less Than One Minute of Data Prithvi Akella Skylar X. Wei J. W. Burdick Aaron D. Ames 45 4 0 12 Dec 2022
Gaussian Process Barrier States for Safe Trajectory Optimization and Control Hassan Almubarak Manan S. Gandhi Yuichiro Aoyama N. Sadegh Evangelos A. Theodorou 36 0 0 01 Dec 2022
Machine Learning for Smart and Energy-Efficient Buildings Hari Prasanna Das Yu-Wen Lin Utkarsha Agwan Lucas Spangher Alex Devonport Yu Yang Ján Drgoňa A. Chong S. Schiavon C. Spanos HAI AI4CE 36 20 0 27 Nov 2022
Neurosymbolic Motion and Task Planning for Linear Temporal Logic Tasks Xiaowu Sun Yasser Shoukry 53 11 0 11 Oct 2022
Data-Efficient Characterization of the Global Dynamics of Robot Controllers with Confidence Guarantees Ewerton R. Vieira Aravind Sivaramakrishnan Yao Song Edgar Granados Marcio Gameiro Konstantin Mischaikow Ying Hung Kostas E. Bekris AI4CE 35 3 0 04 Oct 2022
A Joint Imitation-Reinforcement Learning Framework for Reduced Baseline Regret Sheelabhadra Dey Sumedh Pendurkar Guni Sharon Josiah P. Hanna 24 10 0 20 Sep 2022
Sample-efficient Safe Learning for Online Nonlinear Control with Control Barrier Functions Wenhao Luo Wen Sun Ashish Kapoor OffRL 48 9 0 29 Jul 2022
Safe Drone Flight with Time-Varying Backup Controllers Andrew W. Singletary A. Swann I. D. Rodriguez Aaron D. Ames 30 6 0 11 Jul 2022
Barrier Certified Safety Learning Control: When Sum-of-Square Programming Meets Reinforcement Learning He-lu Huang Zerui Li Dongkun Han 42 2 0 16 Jun 2022
Provable Probabilistic Safety and Feasibility-Assured Control for Autonomous Vehicles using Exponential Control Barrier Functions Spencer Van Koevering Yiwei Lyu Wenhao Luo John M. Dolan 24 8 0 08 May 2022
Barrier Bayesian Linear Regression: Online Learning of Control Barrier Conditions for Safety-Critical Control of Uncertain Systems Lukas Brunke Siqi Zhou Angela P. Schoellig 24 20 0 08 Apr 2022
Safe Reinforcement Learning for Legged Locomotion Tsung-Yen Yang Tingnan Zhang Linda Luu Sehoon Ha Jie Tan Wenhao Yu 37 40 0 05 Mar 2022
Differentiable Control Barrier Functions for Vision-based End-to-End Autonomous Driving Wei Xiao Tsun-Hsuan Wang Makram Chahine Alexander Amini Ramin Hasani Daniela Rus 33 26 0 04 Mar 2022
Morse Graphs: Topological Tools for Analyzing the Global Dynamics of Robot Controllers Ewerton R. Vieira Edgar Granados Aravind Sivaramakrishnan Marcio Gameiro Konstantin Mischaikow Kostas E. Bekris 20 6 0 17 Feb 2022
Onboard Safety Guarantees for Racing Drones: High-speed Geofencing with Control Barrier Functions Andrew W. Singletary A. Swann Yuxiao Chen Aaron D. Ames 32 48 0 12 Jan 2022
Safety-Aware Preference-Based Learning for Safety-Critical Control Ryan K. Cosner Maegan Tucker Andrew J. Taylor Kejun Li Tamás G. Molnár Wyatt Ubellacker Anil Alan G. Orosz Yisong Yue Aaron D. Ames 36 24 0 15 Dec 2021
Safety-Critical Control with Input Delay in Dynamic Environment Tamás G. Molnár A. Kiss Aaron D. Ames G. Orosz 27 45 0 15 Dec 2021
BarrierNet: A Safety-Guaranteed Layer for Neural Networks Wei Xiao Ramin Hasani Xiao Li Daniela Rus 28 20 0 22 Nov 2021
Learning Robust Output Control Barrier Functions from Safe Expert Demonstrations Lars Lindemann Alexander Robey Lejun Jiang Satyajeet Das Stephen Tu Nikolai Matni 47 42 0 18 Nov 2021
safe-control-gym: a Unified Benchmark Suite for Safe Learning-based Control and Reinforcement Learning in Robotics Zhaocong Yuan Adam W. Hall Siqi Zhou Lukas Brunke Melissa Greeff Jacopo Panerati Angela P. Schoellig OffRL 104 53 0 13 Sep 2021
Safety-Critical Learning of Robot Control with Temporal Logic Specifications Mingyu Cai C. Vasile 43 4 0 07 Sep 2021
Model Free Barrier Functions via Implicit Evading Maneuvers Eric Squires Rohit Konda Samuel Coogan M. Egerstedt 35 6 0 27 Jul 2021
Lightweight Distributed Gaussian Process Regression for Online Machine Learning Zhenyuan Yuan Minghui Zhu 26 4 0 11 May 2021
Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety Noel Csomay-Shanklin Ryan K. Cosner Min Dai Andrew J. Taylor Aaron D. Ames 39 24 0 04 May 2021
Distributionally robust risk map for learning-based motion planning and control: A semidefinite programming approach A. Hakobyan Insoon Yang 112 25 0 03 May 2021
Data-Driven Robust Barrier Functions for Safe, Long-Term Operation Y. Emam Paul Glotfelter S. Wilson Gennaro Notomista M. Egerstedt 19 25 0 15 Apr 2021
Provably Correct Training of Neural Network Controllers Using Reachability Analysis Xiaowu Sun Yasser Shoukry 25 7 0 22 Feb 2021
Model-based Reinforcement Learning from Signal Temporal Logic Specifications Parv Kapoor Anand Balakrishnan Jyotirmoy V. Deshmukh 29 22 0 10 Nov 2020
Learning-Based Safety-Stability-Driven Control for Safety-Critical Systems under Model Uncertainties Lei Zheng Jiesen Pan Ruicong Yang Hui Cheng Haifeng Hu 13 14 0 08 Aug 2020
ShieldNN: A Provably Safe NN Filter for Unsafe NN Controllers James Ferlez Mahmoud M. Elnaggar Yasser Shoukry C. Fleming AAML 62 33 0 16 Jun 2020
Safe Multi-Agent Interaction through Robust Control Barrier Functions with Learned Uncertainties Richard Cheng M. J. Khojasteh Aaron D. Ames J. W. Burdick 27 87 0 11 Apr 2020
Learning Control Barrier Functions from Expert Demonstrations Alexander Robey Haimin Hu Lars Lindemann Hanwen Zhang Dimos V. Dimarogonas Stephen Tu Nikolai Matni 39 203 0 07 Apr 2020
Multi-Sparse Gaussian Process: Learning based Semi-Parametric Control Mouhyemen Khan Akash Patel A. Chatterjee 12 2 0 03 Mar 2020
Probabilistic Safety Constraints for Learned High Relative Degree System Dynamics M. J. Khojasteh Vikas Dhiman M. Franceschetti Nikolay Atanasov 41 73 0 20 Dec 2019
Learning for Safety-Critical Control with Control Barrier Functions Andrew J. Taylor Andrew W. Singletary Yisong Yue Aaron D. Ames 28 237 0 20 Dec 2019
End-to-End Safe Reinforcement Learning through Barrier Functions for Safety-Critical Continuous Control Tasks Richard Cheng G. Orosz R. Murray J. W. Burdick 31 609 0 21 Mar 2019
Episodic Learning with Control Lyapunov Functions for Uncertain Robotic Systems Andrew J. Taylor Victor D. Dorobantu Hoang Minh Le Yisong Yue Aaron D. Ames 117 78 0 04 Mar 2019
Barrier-Certified Adaptive Reinforcement Learning with Applications to Brushbot Navigation Motoya Ohnishi Li Wang Gennaro Notomista M. Egerstedt 26 69 0 29 Jan 2018