no code implementations • 13 Sep 2023 • Tamas G. Molnar, Aaron D. Ames
The increasing complexity of control systems necessitates control laws that guarantee safety w. r. t.
1 code implementation • 31 Aug 2023 • Tamas G. Molnar, Gabor Orosz, Aaron D. Ames
Finally, we combine the analysis of safety measures and the corresponding stability charts to synthesize safety-critical connected cruise controllers using CBFs.
no code implementations • 20 Mar 2023 • Anil Alan, Tamas G. Molnar, Aaron D. Ames, Gábor Orosz
In this context, robust control barrier functions -- in a variety of forms -- have been used to obtain safety guarantees for uncertain systems.
1 code implementation • 6 Mar 2023 • Tamas G. Molnar, Aaron D. Ames
Guaranteeing safe behavior on complex autonomous systems -- from cars to walking robots -- is challenging due to the inherently high dimensional nature of these systems and the corresponding complex models that may be difficult to determine in practice.
no code implementations • 12 Jan 2023 • Huan Yu, Chenguang Zhao, Tamas G. Molnar
Connected automated vehicles (CAVs) have shown great potential in improving traffic throughput and stability.
no code implementations • 4 Dec 2022 • Sicong Guo, Gabor Orosz, Tamas G. Molnar
This paper considers mixed traffic consisting of connected automated vehicles equipped with vehicle-to-everything (V2X) connectivity and human-driven vehicles.
no code implementations • 10 Oct 2022 • Minghao Shen, R. Austin Dollar, Tamas G. Molnar, Chaozhe R. He, Ardalan Vahidi, Gabor Orosz
Reactive and predictive controllers are proposed.
no code implementations • 16 Sep 2022 • Anil Alan, Tamas G. Molnar, Ersin Das, Aaron D. Ames, Gabor Orosz
This work provides formal safety guarantees for control systems with disturbance.
no code implementations • 16 Jun 2022 • Adam K. Kiss, Tamas G. Molnar, Aaron D. Ames, Gabor Orosz
The theory of control barrier functions, that provides formal safety guarantees for delay-free systems, is extended to systems with state delay.
no code implementations • 29 May 2022 • Tamas G. Molnar, Anil Alan, Adam K. Kiss, Aaron D. Ames, Gabor Orosz
Safe longitudinal control is discussed for a connected automated truck traveling behind a preceding connected vehicle.
no code implementations • 24 Apr 2022 • Tamas G. Molnar, Michael Hopka, Devesh Upadhyay, Michiel Van Nieuwstadt, Gabor Orosz
This work gives introduction to traffic control by connected automated vehicles.
no code implementations • 1 Apr 2022 • Andrew J. Taylor, Pio Ong, Tamas G. Molnar, Aaron D. Ames
Complex control systems are often described in a layered fashion, represented as higher-order systems where the inputs appear after a chain of integrators.
no code implementations • 15 Dec 2021 • Tamas G. Molnar, Adam K. Kiss, Aaron D. Ames, Gábor Orosz
Endowing nonlinear systems with safe behavior is increasingly important in modern control.
1 code implementation • 28 Apr 2021 • Ryan K. Cosner, Andrew W. Singletary, Andrew J. Taylor, Tamas G. Molnar, Katherine L. Bouman, Aaron D. Ames
The increasing complexity of modern robotic systems and the environments they operate in necessitates the formal consideration of safety in the presence of imperfect measurements.
no code implementations • 22 Sep 2020 • Tamas G. Molnar, Andrew W. Singletary, Gabor Orosz, Aaron D. Ames
We introduce a methodology to guarantee safety against the spread of infectious diseases by viewing epidemiological models as control systems and by considering human interventions (such as quarantining or social distancing) as control input.
