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11/22/2022
Safe Control and Learning Using Generalized Action Governor
This paper introduces the Generalized Action Governor, which is a superv...
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07/17/2022
Robust Action Governor for Uncertain Piecewise Affine Systems with Non-convex Constraints and Safe Reinforcement Learning
The action governor is an add-on scheme to a nominal control loop that m...
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12/14/2021
Interaction-Aware Trajectory Prediction and Planning for Autonomous Vehicles in Forced Merge Scenarios
Merging is, in general, a challenging task for both human drivers and au...
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11/27/2021
Energy-Efficient Autonomous Driving Using Cognitive Driver Behavioral Models and Reinforcement Learning
Autonomous driving technologies are expected to not only improve mobilit...
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10/04/2021
Set-theoretic Localization for Mobile Robots with Infrastructure-based Sensing
In this paper, we introduce a set-theoretic approach for mobile robot lo...
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02/21/2021
Safe Reinforcement Learning Using Robust Action Governor
Reinforcement Learning (RL) is essentially a trial-and-error learning pr...
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01/22/2021
Safe Learning Reference Governor for Constrained Systems with Application to Fuel Truck Rollover Avoidance
This paper proposes a learning reference governor (LRG) approach to enfo...
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05/11/2020
A Game Theoretic Approach for Parking Spot Search with Limited Parking Lot Information
We propose a game theoretic approach to address the problem of searching...
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11/06/2019
Rapid Uncertainty Propagation and Chance-Constrained Path Planning for Small Unmanned Aerial Vehicles
With the number of small Unmanned Aircraft Systems (sUAS) in the nationa...
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10/28/2019
Deep Reinforcement Learning with Enhanced Safety for Autonomous Highway Driving
In this paper, we present a safe deep reinforcement learning system for ...
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10/16/2019
Game-theoretic Modeling of Traffic in Unsignalized Intersection Network for Autonomous Vehicle Control Verification and Validation
For a foreseeable future, autonomous vehicles (AVs) will operate in traf...
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09/27/2019
Beating humans in a penny-matching game by leveraging cognitive hierarchy theory and Bayesian learning
It is a long-standing goal of artificial intelligence (AI) to be superio...
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08/12/2019
Decision making in dynamic and interactive environments based on cognitive hierarchy theory, Bayesian inference, and predictive control
n this paper, we describe an integrated framework for autonomous decisio...
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08/12/2019
Decision making in dynamic and interactive environments based on cognitive hierarchy theory: Formulation, solution, and application to autonomous driving
In this paper, we describe a framework for autonomous decision making in...
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04/10/2019
Game-Theoretic Modeling of Multi-Vehicle Interactions at Uncontrolled Intersections
Motivated by the need to develop simulation tools for verification and v...
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10/01/2018