fixed merge

_includes/publication_blurb.html

@@ -13,7 +13,10 @@
 {% endif %}
 {% if post.video %}
   <a href="{{post.video}}">video</a> /
- {% endif %}
+{% endif %}
+{% if post.video2 %}
+  <a href="{{post.video2}}">video 2</a> /
+{% endif %}
 {% if post.code %}
   <a href="{{post.code}}">code</a> /
 {% endif %}

_layouts/papers.html

@@ -23,6 +23,35 @@ <h1>{{ page.title }}</h1>
   <tr>
     <td>{%assign post = page %} {% include publication_blurb.html %}</td>
   </tr>
+  {% if page.abstract %}
+  <tr>
+    <td>
+      <h2>Abstract</h2>
+      <p>{{ page.abstract }} </p>
+    </td>
+  </tr>
+  {% endif %}
+  {% if page.video %}
+  {% if page.video contains 'youtu' %}
+  <tr>
+    <td>
+      <h2>Video</h2>
+      <div>
+        {% assign urlArray = page.video | split: '/' %}
+        {% assign youtube_embed_url = "https://www.youtube.com/embed/" | append:  urlArray[-1] %}
+        <div class="ratio ratio-16x9">
+        <iframe
+          src="{{ youtube_embed_url }}"
+          frameborder="0"
+          allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share"
+          referrerpolicy="strict-origin-when-cross-origin"
+          allowfullscreen></iframe>
+        </div>
+      </div>
+    </td>
+  </tr>
+  {% endif %}
+  {% endif %}
   <tr>
     <td>{{content}}</td>
   </tr>

_papers/2021-12-14-iccbfs.md

@@ -7,6 +7,7 @@ venue: "IEEE CDC"
 authors: "<strong>Devansh Agrawal</strong> and Dimitra Panagou"
 link: https://doi.org/10.1109/CDC45484.2021.9682938
 arxiv:
+video: https://youtu.be/DHsPr0T8oZA
 code:
 abstract: "This paper introduces the notion of an Input
 Constrained Control Barrier Function (ICCBF), as a method to

_papers/2021-12-17-differentially-flat.md

@@ -8,6 +8,7 @@ authors: "<strong>Devansh Agrawal</strong>, Hardik Parwana, Ryan K Cosner, Ugo R
 link: https://doi.org/10.1109/LCSYS.2021.3136465
 arxiv:
 code:
+video: https://youtu.be/1IuUIOUQ9g4
 abstract: "This paper introduces the notion of an Input
 Constrained Control Barrier Function (ICCBF), as a method to
 synthesize safety-critical controllers for nonlinear control-affine

_papers/2022-06-22-observer-controller.md

@@ -7,6 +7,8 @@ venue: "IEEE L-CSS and CDC 2022"
 authors: "<strong>Devansh Agrawal</strong>, Dimitra Panagou"
 link: https://doi.org/10.1109/LCSYS.2022.3185142
 arxiv:
+video: https://youtu.be/uX8BamORZmQ
+video2: https://youtu.be/83o7CEgTEwo
 code:
 abstract: "This letter addresses the synthesis of safety-critical controllers using estimate feedback. We propose an observer-controller interconnection to ensure that the nonlinear system remains safe despite bounded disturbances on the system dynamics and measurements that correspond to partial state information. The co-design of observers and controllers is critical, since even in undisturbed cases, observers and controllers designed independently may not render the system safe. We propose two approaches to synthesize observer-controller interconnections. The first approach utilizes Input-to-State Stable observers, and the second uses Bounded Error observers. Using these stability and boundedness properties of the observation error, we construct novel Control Barrier Functions that impose inequality constraints on the control inputs which, when satisfied, certifies safety. We propose quadratic program-based controllers to satisfy these constraints, and prove Lipschitz continuity of the derived controllers. Simulations and experiments on a quadrotor demonstrate the efficacy of the proposed methods."
 excerpt:

_papers/2023-10-01-gatekeeper-iros.md

@@ -8,6 +8,7 @@ authors: "<strong>Devansh Agrawal</strong>, Ruichang Chen, Dimitra Panagou"
 link: https://doi.org/10.1109/IROS55552.2023.10341790
 arxiv: https://arxiv.org/abs/2211.14361
 code: https://github.com/dev10110/gatekeeper
+video: https://youtu.be/epGrOOSIHO8
 abstract: "This paper presents the gatekeeper algorithm, a real-time and computationally-lightweight method to ensure that nonlinear systems can operate safely in dynamic environments despite limited perception. gatekeeper integrates with existing path planners and feedback controllers by introducing an additional verification step that ensures that proposed trajectories can be executed safely, despite nonlinear dynamics subject to bounded disturbances, input constraints and partial knowledge of the environment. Our key contribution is that (A) we propose an algorithm to recursively construct committed trajectories, and (B) we prove that tracking the committed trajectory ensures the system is safe for all time into the future. The method is demonstrated on a complicated firefighting mission in a dynamic environment, and compares against the state-of-the-art techniques for similar problems."
 pdf: /pdfs/2023-gatekeeper-iros.pdf
 bib: |-

_papers/2024-09-04-gatekeeper-tro.md

@@ -9,6 +9,8 @@ code: https://github.com/dev10110/gatekeeper
 abstract: "This paper presents the gatekeeper algorithm, a real-time and computationally-lightweight method that ensures that trajectories of a nonlinear system satisfy safety constraints despite sensing limitations. gatekeeper integrates with existing path planners and feedback controllers by introducing an additional verification step to ensure that proposed trajectories can be executed safely, despite nonlinear dynamics subject to bounded disturbances, input constraints and partial knowledge of the environment. Our key contribution is that (A) we propose an algorithm to recursively construct safe trajectories by numerically forward propagating the system over a (short) finite horizon, and (B) we prove that tracking such a trajectory ensures the system remains safe for all future time, i.e., beyond the finite horizon. We demonstrate the method in a simulation of a dynamic firefighting mission, and in physical experiments of a quadrotor navigating in an obstacle environment that is sensed online. We also provide comparisons against the state-of-the-art techniques for similar problems."
 link: https://ieeexplore.ieee.org/document/10665919
 pdf: /pdfs/2024-gatekeeper-tro.pdf
+video: https://youtu.be/oFm7btPvaNU
+arxiv: https://arxiv.org/abs/2211.14361
 bib: |-
     @ARTICLE{10665919,
       author={Agrawal, Devansh Ramgopal and Chen, Ruichang and Panagou, Dimitra},