no code implementations • 23 Jun 2022 • Chuyuan Tao, Hyung-Jin Yoon, Hunmin Kim, Naira Hovakimyan, Petros Voulgaris
In this paper, we utilize Stochastic Control Barrier Functions (SCBFs) constraints to limit sample regions in the sample-based algorithm, ensuring safety in a probabilistic sense and improving sample efficiency with a stochastic differential equation.
no code implementations • 12 Nov 2021 • Chuyuan Tao, Hunmin Kim, HyungJin Yoon, Naira Hovakimyan, Petros Voulgaris
For a nonlinear stochastic path planning problem, sampling-based algorithms generate thousands of random sample trajectories to find the optimal path while guaranteeing safety by Lagrangian penalty methods.
no code implementations • 21 Sep 2021 • Lin Song, Neng Wan, Aditya Gahlawat, Chuyuan Tao, Naira Hovakimyan, Evangelos A. Theodorou
The control action composition is achieved by taking a weighted mixture of the existing controllers according to the contribution of each component task.
