
Voronoi Progressive Widening: Efficient Online Solvers for Continuous Space MDPs and POMDPs with Provably Optimal Components
Markov decision processes (MDPs) and partially observable MDPs (POMDPs) ...
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Gaussian Processbased Minnorm Stabilizing Controller for ControlAffine Systems with Uncertain Input Effects
This paper presents a method to design a minnorm Control Lyapunov Funct...
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Encoding Defensive Driving as a Dynamic Nash Game
Robots deployed in realworld environments should operate safely in a ro...
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Approximate Solutions to a Class of Reachability Games
In this paper, we present a method for finding approximate Nash equilibr...
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Dynamically Computing Adversarial Perturbations for Recurrent Neural Networks
Convolutional and recurrent neural networks have been widely employed to...
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Reinforcement Learning for SafetyCritical Control under Model Uncertainty, using Control Lyapunov Functions and Control Barrier Functions
In this paper, the issue of model uncertainty in safetycritical control...
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Improving InputOutput Linearizing Controllers for Bipedal Robots via Reinforcement Learning
The main drawbacks of inputoutput linearizing controllers are the need ...
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Technical Report: Adaptive Control for Linearizable Systems Using OnPolicy Reinforcement Learning
This paper proposes a framework for adaptively learning a feedback linea...
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InferenceBased Strategy Alignment for GeneralSum Differential Games
In many settings where multiple agents interact, the optimal choices for...
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A HamiltonJacobi ReachabilityBased Framework for Predicting and Analyzing Human Motion for Safe Planning
Realworld autonomous systems often employ probabilistic predictive mode...
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Feedback Linearization for Unknown Systems via Reinforcement Learning
We present a novel approach to control design for nonlinear systems, whi...
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Sparse tree search optimality guarantees in POMDPs with continuous observation spaces
Partially observable Markov decision processes (POMDPs) with continuous ...
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An Iterative Quadratic Method for GeneralSum Differential Games with Feedback Linearizable Dynamics
Iterative linearquadratic (ILQ) methods are widely used in the nonlinea...
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Closedloop Model Selection for Kernelbased Models using Bayesian Optimization
Kernelbased nonparametric models have become very attractive for model...
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Efficient Iterative LinearQuadratic Approximations for Nonlinear MultiPlayer GeneralSum Differential Games
Differential games offer a powerful theoretical framework for formulatin...
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An Efficient ReachabilityBased Framework for Provably Safe Autonomous Navigation in Unknown Environments
Realworld autonomous vehicles often operate in a priori unknown environ...
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A New Simulation Metric to Determine Safe Environments and Controllers for Systems with Unknown Dynamics
We consider the problem of extracting safe environments and controllers ...
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Safe and Complete RealTime Planning and Exploration in Unknown Environments
We present a new framework for motion planning that wraps around existin...
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A Scalable Framework For RealTime MultiRobot, MultiHuman Collision Avoidance
Robust motion planning is a wellstudied problem in the robotics literat...
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A Minimum Discounted Reward HamiltonJacobi Formulation for Computing Reachable Sets
We propose a novel formulation for approximating reachable sets through ...
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Robust Tracking with Model Mismatch for Fast and Safe Planning: an SOS Optimization Approach
In the pursuit of realtime motion planning, a commonly adopted practice...
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Probabilistically Safe Robot Planning with ConfidenceBased Human Predictions
In order to safely operate around humans, robots can employ predictive m...
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Classificationbased Approximate Reachability with Guarantees Applied to Safe Trajectory Tracking
HamiltonJacobi (HJ) reachability analysis has been developed over the p...
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ContextSpecific Validation of DataDriven Models
With an increasing use of datadriven models to control robotic systems,...
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BudgetConstrained MultiArmed Bandits with Multiple Plays
We study the multiarmed bandit problem with multiple plays and a budget...
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Planning, Fast and Slow: A Framework for Adaptive RealTime Safe Trajectory Planning
Motion planning is an extremely wellstudied problem in the robotics com...
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Claire J. Tomlin
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