Search Results for author: Mohammad Aali

Found 3 papers, 0 papers with code

Learning Piecewise Residuals of Control Barrier Functions for Safety of Switching Systems using Multi-Output Gaussian Processes

no code implementations26 Mar 2024 Mohammad Aali, Jun Liu

This uncertainty results in piecewise residuals for each switching surface, impacting the CLF and CBF constraints.

Gaussian Processes

Multiple Control Barrier Functions: An Application to Reactive Obstacle Avoidance for a Multi-steering Tractor-trailer System

no code implementations12 Sep 2022 Mohammad Aali, Jun Liu

We develop a control structure based on a multiple CBFs scheme for a multi-steering tractor-trailer system to ensure a collision-free maneuver for both the tractor and trailer in the presence of several obstacles.

Model Predictive Control

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