Search Results for author: Hassan Almubarak

Found 7 papers, 0 papers with code

Barrier States Theory for Safety-Critical Multi-Objective Control

no code implementations10 Oct 2023 Hassan Almubarak, Nader Sadegh, Evangelos A. Theodorou

The proposition is that the control problem is now transformed to designing a control law for the new, unconstrained, system in which the barrier state is driven to stay bounded while achieving other performance objectives.

Safe Importance Sampling in Model Predictive Path Integral Control

no code implementations6 Mar 2023 Manan Gandhi, Hassan Almubarak, Evangelos Theodorou

We introduce the notion of importance sampling under embedded barrier state control, titled Safety Controlled Model Predictive Path Integral Control (SC-MPPI).

Gaussian Process Barrier States for Safe Trajectory Optimization and Control

no code implementations1 Dec 2022 Hassan Almubarak, Manan Gandhi, Yuichiro Aoyama, Nader Sadegh, Evangelos A. Theodorou

We derive the barrier state dynamics utilizing the GP posterior, which is used to construct a safety embedded Gaussian process dynamical model (GPDM).

Gaussian Processes

Safety in Augmented Importance Sampling: Performance Bounds for Robust MPPI

no code implementations12 Apr 2022 Manan Gandhi, Hassan Almubarak, Yuichiro Aoyama, Evangelos Theodorou

This work explores the nature of augmented importance sampling in safety-constrained model predictive control problems.

Model Predictive Control Motion Planning

Barrier States Embedded Iterative Dynamic Game for Robust and Safe Trajectory Optimization

no code implementations4 Nov 2021 Hassan Almubarak, Evangelos A. Theodorou, Nader Sadegh

The proposed method leverages a game theoretic differential dynamic programming approach with barrier states to handle parametric and non-parametric uncertainties in safety-critical control systems.

Decision Making

HJB Based Optimal Safe Control Using Control Barrier Functions

no code implementations29 Jun 2021 Hassan Almubarak, Evangelos A. Theodorou, Nader Sadegh

This work proposes an optimal safe controller minimizing an infinite horizon cost functional subject to control barrier functions (CBFs) safety conditions.

Safety Embedded Control of Nonlinear Systems via Barrier States

no code implementations20 Feb 2021 Hassan Almubarak, Nader Sadegh, Evangelos A. Theodorou

The development enforces safety by means of barrier functions used in optimization through the construction of barrier states (BaS) which are embedded in the control system's model.

Cannot find the paper you are looking for? You can Submit a new open access paper.