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I study the coordination and control 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, beginning with such representative problems as formation tracking, dynamic consensus, robust motion planning and decision making, and safety-critical collective control, drawing examples from the robotics literature and related fields. Submitted/In ReviewClinton Enwerem, Erfaun Noorani, John S. Baras, and Brian M. Sadler, Robust Stochastic Shortest-Path Planning via Risk-Sensitive Incremental Sampling, 2024. 2024Clinton Enwerem and John S. Baras, Safe Collective Control under Noisy Inputs and Competing Constraints via Non-Smooth Barrier Functions. To appear in the proceedings of the 2024 European Control Conference. 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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