no code implementations • 18 Feb 2024 • Inigo Incer, Noel Csomay-Shanklin, Aaron Ames, Richard M. Murray
We consider the problem of reasoning about networked and layered control systems using assume-guarantee specifications.
no code implementations • 3 Nov 2023 • Alexandre Capone, Ryan Cosner, Aaron Ames, Sandra Hirche
Our approach requires no prior model and corresponds, to the best of our knowledge, to the first algorithm that guarantees safety in settings with occasionally infeasible safety certificates without requiring a backup non-learning-based controller.
no code implementations • 3 Mar 2020 • Brijen Thananjeyan, Ashwin Balakrishna, Ugo Rosolia, Joseph E. Gonzalez, Aaron Ames, Ken Goldberg
Sample-based learning model predictive control (LMPC) strategies have recently attracted attention due to their desirable theoretical properties and their good empirical performance on robotic tasks.
no code implementations • L4DC 2020 • Andrew Taylor, Andrew Singletary, Yisong Yue, Aaron Ames
Modern nonlinear control theory seeks to endow systems with properties of stability and safety, and have been deployed successfully in multiple domains.