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FaSTrack: a Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking


Feb 14, 2021
Mo Chen, Sylvia L. Herbert, Haimin Hu, Ye Pu, Jaime F. Fisac, Somil Bansal, SooJean Han, Claire J. Tomlin

* Published in the IEEE Transactions on Automatic Control 

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Scalable Learning of Safety Guarantees for Autonomous Systems using Hamilton-Jacobi Reachability


Jan 15, 2021
Sylvia Herbert, Jason J. Choi, Suvansh Qazi, Marsalis Gibson, Koushil Sreenath, Claire J. Tomlin

* The first two authors are co-first authors. Submitted to ICRA 2021 

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Voronoi Progressive Widening: Efficient Online Solvers for Continuous Space MDPs and POMDPs with Provably Optimal Components


Dec 18, 2020
Michael H. Lim, Claire J. Tomlin, Zachary N. Sunberg


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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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Encoding Defensive Driving as a Dynamic Nash Game


Nov 09, 2020
Chih-Yuan Chiu, David Fridovich-Keil, Claire J. Tomlin

* Submitted to ICRA 2021 

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Approximate Solutions to a Class of Reachability Games


Nov 01, 2020
David Fridovich-Keil, Claire J. Tomlin

* Under review at ICRA 2021 

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Dynamically Computing Adversarial Perturbations for Recurrent Neural Networks


Sep 07, 2020
Shankar A. Deka, DuÅ”an M. Stipanović, Claire J. Tomlin

* Submitted to IEEE Transactions on Neural Networks and Learning Systems 

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Improving Input-Output Linearizing Controllers for Bipedal Robots via Reinforcement Learning


May 02, 2020
Fernando CastaƱeda, Mathias Wulfman, Ayush Agrawal, Tyler Westenbroek, Claire J. Tomlin, S. Shankar Sastry, Koushil Sreenath

* Final version appearing in Learning for Dynamics and Control (L4DC) 2020 Conference 

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Reinforcement Learning for Safety-Critical Control under Model Uncertainty, using Control Lyapunov Functions and Control Barrier Functions


Apr 16, 2020
Jason Choi, Fernando CastaƱeda, Claire J. Tomlin, Koushil Sreenath

* The fist two authors contributed equally to this work 

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Technical Report: Adaptive Control for Linearizable Systems Using On-Policy Reinforcement Learning


Apr 06, 2020
Tyler Westenbroek, Eric Mazumdar, David Fridovich-Keil, Valmik Prabhu, Claire J. Tomlin, S. Shankar Sastry


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Inference-Based Strategy Alignment for General-Sum Differential Games


Feb 11, 2020
Lasse Peters, David Fridovich-Keil, Claire J. Tomlin, Zachary N. Sunberg


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A Hamilton-Jacobi Reachability-Based Framework for Predicting and Analyzing Human Motion for Safe Planning


Oct 29, 2019
Somil Bansal, Andrea Bajcsy, Ellis Ratner, Anca D. Dragan, Claire J. Tomlin


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Feedback Linearization for Unknown Systems via Reinforcement Learning


Oct 29, 2019
Tyler Westenbroek, David Fridovich-Keil, Eric Mazumdar, Shreyas Arora, Valmik Prabhu, S. Shankar Sastry, Claire J. Tomlin


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Sparse tree search optimality guarantees in POMDPs with continuous observation spaces


Oct 10, 2019
Michael H. Lim, Claire J. Tomlin, Zachary N. Sunberg


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An Iterative Quadratic Method for General-Sum Differential Games with Feedback Linearizable Dynamics


Oct 01, 2019
David Fridovich-Keil, Vicenc Rubies-Royo, Claire J. Tomlin

* 7 pages, 5 figures, submitted to International Conference on Robotics and Automation (2020) 

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Efficient Iterative Linear-Quadratic Approximations for Nonlinear Multi-Player General-Sum Differential Games


Sep 12, 2019
David Fridovich-Keil, Ellis Ratner, Anca D. Dragan, Claire J. Tomlin

* 8 pages, 3 figures, under review at Robotics and Automation Letters 

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Closed-loop Model Selection for Kernel-based Models using Bayesian Optimization


Sep 12, 2019
Thomas Beckers, Somil Bansal, Claire J. Tomlin, Sandra Hirche

* IEEE Conference on Decision and Control 2019 

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An Efficient Reachability-Based Framework for Provably Safe Autonomous Navigation in Unknown Environments


May 01, 2019
Andrea Bajcsy, Somil Bansal, Eli Bronstein, Varun Tolani, Claire J. Tomlin


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Safely Probabilistically Complete Real-Time Planning and Exploration in Unknown Environments


Mar 07, 2019
David Fridovich-Keil, Jaime F. Fisac, Claire J. Tomlin

* 7 pages, accepted to ICRA 2019 

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A New Simulation Metric to Determine Safe Environments and Controllers for Systems with Unknown Dynamics


Feb 27, 2019
Shromona Ghosh, Somil Bansal, Alberto Sangiovanni-Vincentelli, Sanjit A. Seshia, Claire J. Tomlin

* 22nd ACM International Conference on Hybrid Systems: Computation and Control (2019) 

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A Scalable Framework For Real-Time Multi-Robot, Multi-Human Collision Avoidance


Nov 14, 2018
Andrea Bajcsy, Sylvia L. Herbert, David Fridovich-Keil, Jaime F. Fisac, Sampada Deglurkar, Anca D. Dragan, Claire J. Tomlin


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A Minimum Discounted Reward Hamilton-Jacobi Formulation for Computing Reachable Sets


Sep 03, 2018
Anayo K. Akametalu, Shromona Ghosh, Jaime F. Fisac, Claire J. Tomlin


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Robust Tracking with Model Mismatch for Fast and Safe Planning: an SOS Optimization Approach


Aug 02, 2018
Sumeet Singh, Mo Chen, Sylvia L. Herbert, Claire J. Tomlin, Marco Pavone

* Submitted to WAFR 2018 

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Probabilistically Safe Robot Planning with Confidence-Based Human Predictions


May 31, 2018
Jaime F. Fisac, Andrea Bajcsy, Sylvia L. Herbert, David Fridovich-Keil, Steven Wang, Claire J. Tomlin, Anca D. Dragan

* Robotics Science and Systems (RSS) 2018 

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Context-Specific Validation of Data-Driven Models


Mar 26, 2018
Somil Bansal, Shromona Ghosh, Alberto Sangiovanni-Vincentelli, Sanjit A. Seshia, Claire J. Tomlin


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Classification-based Approximate Reachability with Guarantees Applied to Safe Trajectory Tracking


Mar 08, 2018
Vicenc Rubies-Royo, David Fridovich-Keil, Sylvia Herbert, Claire J. Tomlin


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A General Safety Framework for Learning-Based Control in Uncertain Robotic Systems


Feb 14, 2018
Jaime F. Fisac, Anayo K. Akametalu, Melanie N. Zeilinger, Shahab Kaynama, Jeremy Gillula, Claire J. Tomlin

* Accepted for publication in IEEE Transactions on Automatic Control. Video with experiments: https://youtu.be/WAAxyeSk2bw 

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Budget-Constrained Multi-Armed Bandits with Multiple Plays


Nov 16, 2017
Datong P. Zhou, Claire J. Tomlin

* 20 pages 

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Goal-Driven Dynamics Learning via Bayesian Optimization


Sep 22, 2017
Somil Bansal, Roberto Calandra, Ted Xiao, Sergey Levine, Claire J. Tomlin

* This is the extended version of the CDC'17 paper titled "Goal-Driven Dynamics Learning via Bayesian Optimization." 

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