no code implementations • 11 Jul 2022 • Andrew Singletary, Aiden Swann, Ivan Dario Jimenez Rodriguez, Aaron D. Ames
TBCs reduce conservatism when compared to traditional backup controllers and can be directly applied to multi-agent coordination to guarantee safety.
no code implementations • 29 Mar 2022 • Andrew Singletary, Mohamadreza Ahmadi, Aaron D. Ames
To this end, we introduce risk control barrier functions (RCBFs), which are compositions of barrier functions and dynamic, coherent risk measures.
no code implementations • 12 Jan 2022 • Andrew Singletary, Aiden Swann, Yuxiao Chen, Aaron D. Ames
This paper details the theory and implementation behind practically ensuring safety of remotely piloted racing drones.
1 code implementation • 11 Dec 2020 • Ugo Rosolia, Andrew Singletary, Aaron D. Ames
In this paper we present a hierarchical multi-rate control architecture for nonlinear autonomous systems operating in partially observable environments.
no code implementations • L4DC 2020 • Andrew Taylor, Andrew Singletary, Yisong Yue, Aaron Ames
Modern nonlinear control theory seeks to endow systems with properties of stability and safety, and have been deployed successfully in multiple domains.