Controlling a hybrid system to a target set under parameter uncertainty can require informative actions that temporarily drive the system state away from the specified set. We propose a belief-informed dual-control algorithm that combines belief-space receding-horizon selection with an expected-decrease constraint on a...
Clinton Enwerem, S. Kemal, John S. Baras et al.· 0 citations
Safety-critical Model Predictive Control (MPC) formulations based on Control Barrier Functions (CBFs) often require multiple tuning parameters and may become conservative or difficult to keep feasible, particularly for high-relative-degree constraints. To address these limitations, in this paper we draw inspiration fro...
Cells make decisions through densely interconnected regulatory networks that compute graded, analog responses[1, 2]. Synthetic biology has made cells programmable, but the field’s dominant abstractions poorly match the analog nature of cells. Designing analog circuits that work in cells is challenging: predicting how c...
Jean Disset, Charles Van De Mark, Georg K. A. Wachter et al.· bioRxiv· 0 citations
Equal nominal task success does not imply preservation of expert performance across execution speeds, and an expert and learner under the same task conditions, initial-condition draws, and speedup factors is compared.
Clinton Enwerem, John S. Baras, C. Belta· 0 citations
GDFs, smooth softmin distances to finite sets of arm-hand grasp configurations to handle changes in contact topology are presented, and a hysteretic contact-mode transition with a wrench-quality CBF that limits degradation of the realized force-closure margin relative to hold onset is combined.
Clinton Enwerem, John S. Baras, C. Belta· 0 citations
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