The Impact of Reference-Command Preview on Human-in-the-Loop Control Behavior

no code implementations • 29 Aug 2023 • Pedram Rabiee, S. Alireza Seyyed Mousavi, Amelia J. S. Sheffler, Erik Hellström, Mrdjan Jankovic, Mario A. Santillo, T. M. Seigler, Jesse B. Hoagg

This article presents results from an experiment in which 44 human subjects interact with a dynamic system to perform 40 trials of a command-following task.

Multi-agent systems with CBF-based controllers -- collision avoidance and liveness from instability

no code implementations • 11 Jul 2022 • Mrdjan Jankovic, Mario Santillo, Yan Wang

Monte Carlo simulations show that decentralized, host-only control policies and CCS lack liveness while the PCCA policy performs as well as the Centralized.

Collision Avoidance

Backup Control Barrier Functions: Formulation and Comparative Study

no code implementations • 22 Apr 2021 • Yuxiao Chen, Mrdjan Jankovic, Mario Santillo, Aaron D. Ames

The backup control barrier function (CBF) was recently proposed as a tractable formulation that guarantees the feasibility of the CBF quadratic programming (QP) via an implicitly defined control invariant set.

Math