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I study the coordination and control (at the agent and ensemble levels) of networked, intelligent, embodied, and possibly heterogeneous collectives in dynamic and partially-observed environments, using mathematical tools from graph theory, control theory, learning theory, and optimization. My focus is on developing techniques for safe and robust autonomy under uncertainty, with specific focus on problems spanning formation tracking, dynamic consensus, robust motion planning and decision making, and safety-critical collective control, drawing examples from the robotics literature and related fields. 2024Clinton Enwerem, Erfaun Noorani, John S. Baras, and Brian M. Sadler, Robust Stochastic Shortest-Path Planning via Risk-Sensitive Incremental Sampling, To appear in the proceedings of the 63rd IEEE Conference on Decision and Control (CDC), 2024. Clinton Enwerem and John S Baras. Safe Collective Control under Noisy Inputs and Competing Constraints via Non-Smooth Barrier Functions. In the 2024 European Control Conference (ECC), pp. 3762–3768. IEEE, 2024. Clinton Enwerem and John S. Baras, Formation Tracking for a Class of Uncertain Multiagent Systems: A Distributed Kalman Filtering Approach, IEEE Control Systems Letters, Volume 8, 2024. 2023Clinton Enwerem and John S. Baras, “Consensus-Based Leader-Follower Formation Tracking for Control-Affine Nonlinear Multiagent Systems,” in the 9th International Conference on Control, Decision and Information Technologies (CoDIT), Rome, Italy: IEEE, Jul. 2023, pp. 1226–1231. doi: 10.1109/CoDIT58514.2023.10284199. |
Peer Review: MED'23, ECC'24, Heliyon. |
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