no code implementations • 10 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.
no code implementations • 6 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).
no code implementations • 1 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).
no code implementations • 12 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.
no code implementations • 4 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.
no code implementations • 29 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.
no code implementations • 20 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.