Search Results for author: Amr Alanwar

Found 15 papers, 10 papers with code

Safe Reinforcement Learning using Data-Driven Predictive Control

no code implementations20 Nov 2022 Mahmoud Selim, Amr Alanwar, M. Watheq El-Kharashi, Hazem M. Abbas, Karl H. Johansson

If there is an intersection between the reachable set of the robot using the proposed action, we call the data-driven predictive controller to find the closest safe action to the proposed unsafe action.

Continuous Control Decision Making +2

Resilient Set-based State Estimation for Linear Time-Invariant Systems Using Zonotopes

no code implementations15 Nov 2022 Muhammad Umar B. Niazi, Amr Alanwar, Michelle S. Chong, Karl Henrik Johansson

This paper considers the problem of set-based state estimation for linear time-invariant (LTI) systems under time-varying sensor attacks.

Robust Data-Driven Predictive Control of Unknown Nonlinear Systems using Reachability Analysis

1 code implementation10 Nov 2022 Mahsa Farjadnia, Amr Alanwar, Muhammad Umar B. Niazi, Marco Molinari, Karl Henrik Johansson

By using the past noisy input-output data in the learning phase, we propose a novel method to over-approximate reachable sets of an unknown nonlinear system.

Logical Zonotope: A Set Representation for Binary Vectors

1 code implementation16 Oct 2022 Amr Alanwar, Frank J. Jiang, Samy Amin, Karl H. Johansson

In this paper, we propose a new set representation for binary vectors called logical zonotopes.

Safe Reinforcement Learning Using Black-Box Reachability Analysis

1 code implementation15 Apr 2022 Mahmoud Selim, Amr Alanwar, Shreyas Kousik, Grace Gao, Marco Pavone, Karl H. Johansson

Reinforcement learning (RL) is capable of sophisticated motion planning and control for robots in uncertain environments.

Motion Planning reinforcement-learning +1

Data-driven Set-based Estimation of Polynomial Systems with Application to SIR Epidemics

no code implementations8 Nov 2021 Amr Alanwar, Muhammad Umar B. Niazi, Karl H. Johansson

The offline phase utilizes past input-output data to estimate a set of possible coefficients of the polynomial system.

Data-Driven Reachability Analysis from Noisy Data

1 code implementation15 May 2021 Amr Alanwar, Anne Koch, Frank Allgöwer, Karl Henrik Johansson

We consider the problem of computing reachable sets directly from noisy data without a given system model.

Robust Data-Driven Predictive Control using Reachability Analysis

1 code implementation25 Mar 2021 Amr Alanwar, Yvonne Stürz, Karl Henrik Johansson

Instead of depending on a system model in traditional predictive control, a controller utilizing data-driven reachable regions is proposed.

Set-Membership Estimation in Shared Situational Awareness for Automated Vehicles in Occluded Scenarios

no code implementations2 Mar 2021 Vandana Narri, Amr Alanwar, Jonas Mårtensson, Christoffer Norén, Laura Dal Col, Karl Henrik Johansson

Depending on the ego-vehicle's ability to fuse information from sensors in other vehicles or in the infrastructure, shared situational awareness is developed using a set-based estimation technique that provides robust guarantees for the location of the pedestrian.

Data-Driven Set-Based Estimation using Matrix Zonotopes with Set Containment Guarantees

1 code implementation26 Jan 2021 Amr Alanwar, Alexander Berndt, Karl Henrik Johansson, Henrik Sandberg

We propose a method to perform set-based state estimation of an unknown dynamical linear system using a data-driven set propagation function.

Data-Driven Reachability Analysis Using Matrix Zonotopes

1 code implementation17 Nov 2020 Amr Alanwar, Anne Koch, Frank Allgöwer, Karl Henrik Johansson

In this paper, we propose a data-driven reachability analysis approach for unknown system dynamics.

Privacy Preserving Set-Based Estimation Using Partially Homomorphic Encryption

1 code implementation19 Oct 2020 Amr Alanwar, Victor Gassmann, Xingkang He, Hazem Said, Henrik Sandberg, Karl Henrik Johansson, Matthias Althoff

This paper presents the first privacy-preserving set-based estimation protocols using partially homomorphic encryption in which we preserve the privacy of the set of all possible estimates and the measurements.

Cryptography and Security Robotics

Distributed Set-Based Observers Using Diffusion Strategy

1 code implementation23 Mar 2020 Amr Alanwar, Jagat Jyoti Rath, Hazem Said, Karl Henrik Johansson, Matthias Althoff

Our set-based diffusion step decreases the estimation errors and the size of estimated sets and can be seen as a lightweight approach to achieve partial consensus between the distributed estimated sets.

D-SLATS: Distributed Simultaneous Localization and Time Synchronization

no code implementations10 Nov 2017 Amr Alanwar, Henrique Ferraz, Kevin Hsieh, Rohit Thazhath, Paul Martin, Joao Hespanha, Mani Srivastava

Therefore, we propose D-SLATS, a framework comprised of three different and independent algorithms to jointly solve time synchronization and localization problems in a distributed fashion.

Event-Triggered Diffusion Kalman Filters

1 code implementation1 Nov 2017 Amr Alanwar, Hazem Said, Ankur Mehta, Matthias Althoff

Distributed state estimation strongly depends on collaborative signal processing, which often requires excessive communication and computation to be executed on resource-constrained sensor nodes.

Systems and Control Robotics Signal Processing

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