Learning Safe-by-Design Neural Network Controllers
Safety filters constructed from control barrier functions (CBFs) are commonly appended to pre-trained neural network controllers to enforce safety requirements. However, this …
yang-zhao
Yang Zhao
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1 min read
CAffNet: Hard Constraint-Affine Neural Networks
We present a novel framework for embedding hard constraint satisfaction into neural network (NN) architectures, specifically feedforward neural networks and transformers, with …
yang-zhao
Tube-Based MPC for Uncertain Sampled-Data Control Systems With Inter-Sample Reachability Analysis
This letter presents an output-feedback tube-based model predictive control (MPC) framework for linear sampled-data control systems subject to external disturbances and non-convex …
yang-zhao
AirTaxiSim: A Simulator for Autonomous Air Taxis
The rapid advancements in air mobility vehicles is paving the way for air taxis to become a viable mode of public transportation. The next technological frontier for air taxis is …
ayoosh-bansal
An optimization-based planner with b-spline parameterized continuous-time reference signals
For the cascaded planning and control modules implemented for robot navigation, the frequency gap between the planner and controller has received limited attention. In this study, …
chuyuan-tao
Synergistic Perception and Control Simplex for Verifiable Safe Vertical Landing
Perception, Planning, and Control form the essential components of autonomy in advanced air mobility. This work advances the holistic integration of these components to enhance the …
ayoosh-bansal