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Prithvi Akella
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Sample-based bounds for coherent risk measures: Applications to policy synthesis and verification
P Akella, A Dixit, M Ahmadi, JW Burdick, AD Ames
arXiv preprint arXiv:2204.09833, 2022
142022
A scenario approach to risk-aware safety-critical system verification
P Akella, M Ahmadi, AD Ames
arXiv preprint arXiv:2203.02595, 2022
122022
Controlling the locomotion of spherical robots or why BB-8 works
P Akella, OM O'Reilly, K Sreenath
Journal of Mechanisms and Robotics 11 (2), 024501, 2019
112019
A barrier-based scenario approach to verifying safety-critical systems
P Akella, AD Ames
IEEE Robotics and Automation Letters 7 (4), 11062-11069, 2022
82022
Formal test synthesis for safety-critical autonomous systems based on control barrier functions
P Akella, M Ahmadi, RM Murray, AD Ames
2020 59th IEEE Conference on Decision and Control (CDC), 790-795, 2020
62020
Probabilistic Guarantees for Nonlinear Safety-Critical Optimal Control
P Akella, W Ubellacker, AD Ames
arXiv preprint arXiv:2303.06258, 2023
32023
Test and evaluation of quadrupedal walking gaits through sim2real gap quantification
P Akella, W Ubellacker, AD Ames
arXiv preprint arXiv:2201.01323, 2022
32022
Learning performance bounds for safety-critical systems
P Akella, U Rosolia, AD Ames
arXiv preprint arXiv:2109.04026, 2021
32021
Learning disturbances online for risk-aware control: Risk-aware flight with less than one minute of data
P Akella, SX Wei, JW Burdick, A Ames
Learning for Dynamics and Control Conference, 665-678, 2023
22023
Safety-Critical Controller Verification via Sim2Real Gap Quantification
P Akella, W Ubellacker, AD Ames
2023 IEEE International Conference on Robotics and Automation (ICRA), 10539 …, 2023
22023
Lipschitz Continuity of Signal Temporal Logic Robustness Measures: Synthesizing Control Barrier Functions from One Expert Demonstration
P Akella, A Badithela, RM Murray, AD Ames
arXiv preprint arXiv:2304.03849, 2023
22023
Verifiably Safe Reinforcement Learning with Probabilistic Guarantees via Temporal Logic
H Krasowski, P Akella, A Ames, M Althoff
arXiv preprint arXiv:2212.06129, 2022
22022
Formal Verification of Safety Critical Autonomous Systems via Bayesian Optimization
P Akella, U Rosolia, A Singletary, AD Ames
arXiv preprint arXiv:2009.12909, 2020
22020
A barrier-based scenario approach to verify safety-critical systems
P Akella, AD Ames
arXiv preprint arXiv:2202.11177, 2022
12022
Disturbance bounds for signal temporal logic task satisfaction: A dynamics perspective
P Akella, AD Ames
IEEE Control Systems Letters 6, 2018-2023, 2021
12021
Safe Reinforcement Learning with Probabilistic Guarantees Satisfying Temporal Logic Specifications in Continuous Action Spaces
H Krasowski, P Akella, AD Ames, M Althoff
2023 62nd IEEE Conference on Decision and Control (CDC), 4372-4378, 2023
2023
Verifiable Learned Behaviors via Motion Primitive Composition: Applications to Scooping of Granular Media
A Benton, E Solowjow, P Akella
arXiv preprint arXiv:2309.14894, 2023
2023
Bounding Optimality Gaps for Non-Convex Optimization Problems: Applications to Nonlinear Safety-Critical Systems
P Akella, AD Ames
arXiv preprint arXiv:2304.03739, 2023
2023
Barrier-Based Test Synthesis for Safety-Critical Systems Subject to Timed Reach-Avoid Specifications
P Akella, M Ahmadi, RM Murray, AD Ames
arXiv preprint arXiv:2301.09622, 2023
2023
Reliable Controller Synthesis: Guarantees for Safety-Critical System Testing and Verification
P Akella
California Institute of Technology, 2023
2023
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