Control Barriers in Bayesian Learning of System Dynamics

29 December 2020

Papers citing "Control Barriers in Bayesian Learning of System Dynamics"

44 / 44 papers shown

Title
Sensor-Based Distributionally Robust Control for Safe Robot Navigation in Dynamic Environments Kehan Long Yinzhuang Yi Zhirui Dai Sylvia Herbert Jorge Cortés Nikolay Atanasov 192 4 0 28 May 2024
Pointwise Feasibility of Gaussian Process-based Safety-Critical Control under Model Uncertainty F. Castañeda Jason J. Choi Bike Zhang Claire Tomlin Koushil Sreenath 40 50 0 13 Jun 2021
Learning Certified Control using Contraction Metric Dawei Sun Susmit Jha Chuchu Fan 35 75 0 25 Nov 2020
Control Barrier Functions for Unknown Nonlinear Systems using Gaussian Processes Pushpak Jagtap George J. Pappas Majid Zamani 29 87 0 12 Oct 2020
Learning a Contact-Adaptive Controller for Robust, Efficient Legged Locomotion Xingye Da Zhaoming Xie David Hoeller Byron Boots Anima Anandkumar Yuke Zhu Buck Babich Animesh Garg 34 57 0 21 Sep 2020
Provably Safe Control of Lagrangian Systems in Obstacle-Scattered Environments Fernando S Barbosa Lars Lindemann Dimos V. Dimarogonas Jana Tumova 11 18 0 04 Sep 2020
Safe Optimal Control Using Stochastic Barrier Functions and Deep Forward-Backward SDEs M. Pereira Ziyi Wang Ioannis Exarchos Evangelos A. Theodorou 20 37 0 02 Sep 2020
Robust Controller Design for Stochastic Nonlinear Systems via Convex Optimization Hiroyasu Tsukamoto Soon-Jo Chung 47 43 0 08 Jun 2020
Chance-Constrained Trajectory Optimization for Safe Exploration and Learning of Nonlinear Systems Yashwanth Kumar Nakka Anqi Liu Guanya Shi Anima Anandkumar Yisong Yue Soon-Jo Chung 61 49 0 09 May 2020
Formal Test Synthesis for Safety-Critical Autonomous Systems based on Control Barrier Functions Prithvi Akella M. Ahmadi R. Murray Aaron D. Ames 120 8 0 08 Apr 2020
Learning Control Barrier Functions from Expert Demonstrations Alexander Robey Haimin Hu Lars Lindemann Hanwen Zhang Dimos V. Dimarogonas Stephen Tu Nikolai Matni 66 206 0 07 Apr 2020
$Safe Feedback Motion Planning: A Contraction Theory and $\mathcal{L}_1$-Adaptive Control Based Approach$ Safe Feedback Motion Planning: A Contraction Theory and $\mathcal{L}_1$ -Adaptive Control Based Approach Arun Lakshmanan Aditya Gahlawat N. Hovakimyan 8 35 0 02 Apr 2020
Synthesis of Control Barrier Functions Using a Supervised Machine Learning Approach Mohit Srinivasan A. Dabholkar Samuel Coogan Patricio Vela 48 127 0 10 Mar 2020
BADGR: An Autonomous Self-Supervised Learning-Based Navigation System G. Kahn Pieter Abbeel Sergey Levine SSL 36 265 0 13 Feb 2020
Adaptive Control Barrier Functions for Safety-Critical Systems Filippo Ascolani C. Belta Christos G. Cassandras 57 12 0 11 Feb 2020
Deep Learning Tubes for Tube MPC David D. Fan Ali-akbar Agha-mohammadi Evangelos A. Theodorou 68 57 0 05 Feb 2020
Training Neural Network Controllers Using Control Barrier Functions in the Presence of Disturbances Shakiba Yaghoubi Georgios Fainekos S. Sankaranarayanan 47 42 0 18 Jan 2020
Probabilistic Safety Constraints for Learned High Relative Degree System Dynamics M. J. Khojasteh Vikas Dhiman M. Franceschetti Nikolay Atanasov 80 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 78 241 0 20 Dec 2019
Bayesian Learning-Based Adaptive Control for Safety Critical Systems David D. Fan Jennifer Nguyen Rohan Thakker Nikhilesh Alatur Ali-akbar Agha-mohammadi Evangelos A. Theodorou BDL 46 84 0 05 Oct 2019
Sampling-based Motion Planning via Control Barrier Functions Guang Yang Bee Vang Zachary Serlin C. Belta Roberto Tron 22 36 0 15 Jul 2019
Robust Regression for Safe Exploration in Control Anqi Liu Guanya Shi Soon-Jo Chung Anima Anandkumar Yisong Yue 38 59 0 13 Jun 2019
Posterior Variance Analysis of Gaussian Processes with Application to Average Learning Curves Armin Lederer Jonas Umlauft Sandra Hirche 26 25 0 04 Jun 2019
Uniform Error Bounds for Gaussian Process Regression with Application to Safe Control Armin Lederer Jonas Umlauft Sandra Hirche 35 151 0 04 Jun 2019
Efficient and Safe Exploration in Deterministic Markov Decision Processes with Unknown Transition Models Erdem Biyik Jonathan Margoliash S. R. Alimo Dorsa Sadigh 34 15 0 01 Apr 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 37 613 0 21 Mar 2019
Control Barrier Functions for Systems with High Relative Degree Wei Xiao C. Belta 26 281 0 12 Mar 2019
A predictive safety filter for learning-based control of constrained nonlinear dynamical systems K. P. Wabersich Melanie Zeilinger AI4CE 52 155 0 13 Dec 2018
Plan Online, Learn Offline: Efficient Learning and Exploration via Model-Based Control Kendall Lowrey Aravind Rajeswaran Sham Kakade G. Haro Igor Mordatch OffRL 51 224 0 05 Nov 2018
GPyTorch: Blackbox Matrix-Matrix Gaussian Process Inference with GPU Acceleration Jacob R. Gardner Geoff Pleiss D. Bindel Kilian Q. Weinberger A. Wilson GP 61 1,088 0 28 Sep 2018
Meta-Learning Priors for Efficient Online Bayesian Regression James Harrison Apoorva Sharma Marco Pavone BDL 56 100 0 24 Jul 2018
Learning-based Model Predictive Control for Safe Exploration Torsten Koller Felix Berkenkamp M. Turchetta Andreas Krause 32 376 0 22 Mar 2018
Gaussian Process bandits with adaptive discretization S. Shekhar T. Javidi 38 52 0 05 Dec 2017
Safe Learning of Quadrotor Dynamics Using Barrier Certificates Li Wang Evangelos A. Theodorou M. Egerstedt 25 192 0 16 Oct 2017
On the Sample Complexity of the Linear Quadratic Regulator Sarah Dean Horia Mania Nikolai Matni Benjamin Recht Stephen Tu 63 574 0 04 Oct 2017
Safe Reinforcement Learning via Shielding Mohammed Alshiekh Roderick Bloem Rüdiger Ehlers Bettina Könighofer S. Niekum Ufuk Topcu 54 682 0 29 Aug 2017
Safe Model-based Reinforcement Learning with Stability Guarantees Felix Berkenkamp M. Turchetta Angela P. Schoellig Andreas Krause 120 845 0 23 May 2017
A General Safety Framework for Learning-Based Control in Uncertain Robotic Systems J. F. Fisac Anayo K. Akametalu Melanie Zeilinger Shahab Kaynama J. Gillula Claire Tomlin 40 494 0 03 May 2017
Evaluating Trajectory Collision Probability through Adaptive Importance Sampling for Safe Motion Planning Edward Schmerling Marco Pavone 38 38 0 17 Sep 2016
Structured and Efficient Variational Deep Learning with Matrix Gaussian Posteriors Christos Louizos Max Welling BDL 55 256 0 15 Mar 2016
Safe Controller Optimization for Quadrotors with Gaussian Processes Felix Berkenkamp Angela P. Schoellig Andreas Krause 31 299 0 03 Sep 2015
Dropout as a Bayesian Approximation: Representing Model Uncertainty in Deep Learning Y. Gal Zoubin Ghahramani UQCV BDL 439 9,233 0 06 Jun 2015
End-to-End Training of Deep Visuomotor Policies Sergey Levine Chelsea Finn Trevor Darrell Pieter Abbeel BDL 205 3,418 0 02 Apr 2015
Kernels for Vector-Valued Functions: a Review Mauricio A. Alvarez Lorenzo Rosasco Neil D. Lawrence GP 122 918 0 30 Jun 2011