Aparna Dhinakaran

Berkeley, California, United States Contact Info
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  • Arize AI

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Publications

  • A Hybrid Framework for Multi-Vehicle Collision Avoidance

    IEEE Conference on Decision and Control

    With the recent surge of interest in UAVs for civilian services, the importance of developing tractable multi-agent analysis techniques that provide safety and performance guarantees have drastically increased. Hamilton-Jacobi (HJ) reachability has successfully provided these guarantees to small-scale systems and is flexible in terms of system dynamics. However, the exponential complexity scaling of HJ reachability with respect to system dimension prevents its direct application to larger-scale…

    With the recent surge of interest in UAVs for civilian services, the importance of developing tractable multi-agent analysis techniques that provide safety and performance guarantees have drastically increased. Hamilton-Jacobi (HJ) reachability has successfully provided these guarantees to small-scale systems and is flexible in terms of system dynamics. However, the exponential complexity scaling of HJ reachability with respect to system dimension prevents its direct application to larger-scale problems where the number of vehicles is greater than two. In this paper, we propose a collision avoidance algorithm using a hybrid framework for N+1 vehicles through higher-level control logic given any N-vehicle collision avoidance algorithm. Our algorithm conservatively approximates a guaranteed-safe region in the joint state space of the N+1 vehicles and produces a safety-preserving controller. In addition, our algorithm does not incur significant additional computation cost. We demonstrate our proposed method in simulation.

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  • Affordable and personalized lighting using inverse modeling and virtual sensors

    SPIE - International Society for Optics and Photonics

  • Sensor-based predictive modeling for smart lighting in grid-integrated buildings

    IEEE Sensors Journal

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Languages

  • English

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  • Tamil

    Native or bilingual proficiency

  • Spanish

    Limited working proficiency

Organizations

  • Girls Who Code

    Mentor

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  • UC Berkeley Lightweight Crew

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