Ashwin P. Dani — accepted AI-conference papers

2021

Constrained Image-Based Visual Servoing using Barrier Functions

Iman Salehi, Ghananeel Rotithor, Ryan Saltus, Ashwin P. Dani

ICRA 2021poster

This paper presents a novel constrained image-based visual servoing (IBVS) approach that guarantees target features to remain within the camera field of view (FOV) for the duration of the task. Barrier function (BF) is used to transform the feature dynamics on the image plane into equivalent dynamic…

Cited by 17 Source ↗Scholar ↗

2019

Active Sampling based Safe Identification of Dynamical Systems using Extreme Learning Machines and Barrier Certificates

Iman Salehi, Gang Yao, Ashwin P. Dani

ICRA 2019poster

Learning the dynamical system (DS) model from data that preserves dynamical system properties is an important problem in many robot learning applications. Typically, the joint data coming from cyber-physical systems, such as robots have some underlying DS properties associated with it, e.g., converg…

Cited by 16 Source ↗Scholar ↗