Search Results for author: Chuyuan Tao

Found 4 papers, 0 papers with code

Resilient Estimator-based Control Barrier Functions for Dynamical Systems with Disturbances and Noise

no code implementations28 Jun 2024 Chuyuan Tao, Wenbin Wan, Junjie Gao, Bihao Mo, Hunmin Kim, Naira Hovakimyan

Both simulations and real-world experiments show that the proposed method can guarantee safety for systems with disturbances and noise.

Path Integral Methods with Stochastic Control Barrier Functions

no code implementations23 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.

Control Barrier Function Augmentation in Sampling-based Control Algorithm for Sample Efficiency

no code implementations12 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.

Generalization of Safe Optimal Control Actions on Networked Multi-Agent Systems

no code implementations21 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.

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