Publications

Continuous Reachability Task Transition Using Control Barrier Functions

Published in International Federation of Automatic Control (IFAC), 2020

In this paper, a method to achieve smooth transition between sequential reachability tasks for a continuous time mobile robotic system is presented.

Recommended citation: M. Srinivasan, C. Santoyo, S. Coogan "Continuous Reachability Task Transition Using Control Barrier Functions," International Federation of Automatic Control (IFAC) , to appear.

Multi-Level Electric Vehicle Charging Facilities with Limited Resources

Published in International Federation of Automatic Control (IFAC), 2020

In this paper, we consider electric vehicle charging facilities with limited space and power resources. We assume the facility offers a finite selection of levels, i.e., charging rates, for varying prices.

Recommended citation: C. Santoyo, G. Nilsson, S. Coogan "Multi-Level Electric Vehicle Charging Facilities with Limited Resources," International Federation of Automatic Control (IFAC) , to appear.

Interval-valued Markov Chain Abstraction of Stochastic Systems using Barrier Functions

Published in American Control Conference (ACC), 2020

This paper presents a stochastic barrier function-based abstraction technique for discrete-time stochastic systems.

Recommended citation: M. Dutreix, C. Santoyo, M. Abate, S. Coogan. "Interval-valued Markov Chain Abstraction of Stochastic Systems using Barrier Functions" American Control Conference (ACC), to appear .

Verification and control for finite-time safety of stochastic systems via barrier functions

Published in Conference on Control and Transportation Applications (CCTA), 2019

This paper studies the problem of enforcing safety of a stochastic dynamical system over a finite time horizon.

Recommended citation: C. Santoyo, M. Dutreix, S. Coogan, "Verification and control for finite-time safety of stochastic systems via barrier functions" IEEE Conference on Control Technology and Applications pp. 712–717, 2019.