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Pointwise Feasibility of Gaussian Process-based Safety-Critical Control under Model Uncertainty


Jun 13, 2021
Fernando CastaƱeda, Jason J. Choi, Bike Zhang, Claire J. Tomlin, Koushil Sreenath

* The first two authors contributed equally 

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Gaussian Process-based Min-norm Stabilizing Controller for Control-Affine Systems with Uncertain Input Effects


Nov 14, 2020
Fernando CastaƱeda, Jason J. Choi, Bike Zhang, Claire J. Tomlin, Koushil Sreenath

* The first two authors contributed equally 

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Dynamic Legged Manipulation of a Ball Through Multi-Contact Optimization


Aug 01, 2020
Chenyu Yang, Bike Zhang, Jun Zeng, Ayush Agrawal, Koushil Sreenath


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Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function


Jul 22, 2020
Jun Zeng, Bike Zhang, Koushil Sreenath


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Feedback Control for Autonomous Riding of Hovershoes by a Cassie Bipedal Robot


Jul 26, 2019
Shuxiao Chen, Jonathan Rogers, Bike Zhang, Koushil Sreenath


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