added precommit

dev10110 · dev10110 · commit ef4548a90cca · 2024-09-23T15:35:26.000-04:00
diff --git a/.github/workflows/hugo.yaml b/.github/workflows/hugo.yaml
@@ -37,7 +37,7 @@ jobs:
       - name: Install Hugo CLI
         run: |
           wget -O ${{ runner.temp }}/hugo.deb https://github.com/gohugoio/hugo/releases/download/v${HUGO_VERSION}/hugo_extended_${HUGO_VERSION}_linux-amd64.deb \
-          && sudo dpkg -i ${{ runner.temp }}/hugo.deb          
+          && sudo dpkg -i ${{ runner.temp }}/hugo.deb
       # dont install dart sass, we arent using it
       # - name: Install Dart Sass
       # run: sudo snap install dart-sass
@@ -60,7 +60,7 @@ jobs:
           hugo \
             --gc \
             --minify \
-            --baseURL "${{ steps.pages.outputs.base_url }}/"          
+            --baseURL "${{ steps.pages.outputs.base_url }}/"
       - name: Upload artifact
         uses: actions/upload-pages-artifact@v3
         with:
diff --git a/.gitignore b/.gitignore
@@ -13,4 +13,4 @@ hugo.linux
 /.hugo_build.lock
 
 # Misc. files to ignore
-*.DS_Store
+*.DS_Store
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -0,0 +1,10 @@
+# See https://pre-commit.com for more information
+# See https://pre-commit.com/hooks.html for more hooks
+repos:
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v3.2.0
+    hooks:
+    -   id: trailing-whitespace
+    -   id: end-of-file-fixer
+    -   id: check-yaml
+    -   id: check-added-large-files
diff --git a/archetypes/default.md b/archetypes/default.md
@@ -3,4 +3,3 @@ title = '{{ replace .File.ContentBaseName "-" " " | title }}'
 date = {{ .Date }}
 draft = false
 +++
-
diff --git a/archetypes/papers.md b/archetypes/papers.md
@@ -4,23 +4,23 @@ layout: papers
 title:  "Paper Title"
 # specify the date it was published
 date: 1900-01-01
-# list the authors. if a "/people/id" page exists for the person, it will be linked. If not, the author's name is printed exactly as you typed it. 
+# list the authors. if a "/people/id" page exists for the person, it will be linked. If not, the author's name is printed exactly as you typed it.
 authors:
-    - dimitrapanagou 
+    - dimitrapanagou
 # give the main figure location, relative to /static/
 image: /images/default_paper.png
 # specify the conference or journal that it was published in
-venue: 
+venue:
 # link to publisher site (optional)
-link: 
+link:
 # link to arxiv (optional)
-arxiv: 
+arxiv:
 # link to github (optional)
-code: 
+code:
 # link to video (optional)
-video: 
+video:
 # link to pdf (optional)
-pdf: 
+pdf:
 # abstract
 abstract:
 # bib entry (optional). the |- is used to allow for multiline entry.
diff --git a/archetypes/people.md b/archetypes/people.md
@@ -5,11 +5,11 @@ category: PhD
 # give the path relative to static/
 image: "/images/default_profile.webp"
 # start year, used for sorting
-year: 
+year:
 # link to personal website (optional)
-link: 
-# email id (optional) 
+link:
+# email id (optional)
 # put mailto: before your email
 # Example: mailto:abc@umich.edu
-mail: 
+mail:
 ---
diff --git a/content/news/2024-gatekeeper-tro-accepted.md b/content/news/2024-gatekeeper-tro-accepted.md
@@ -4,4 +4,4 @@ title:  "IEEE TCAC Best Student Paper Award"
 date:  2024-07-14
 ---
 
-Our paper ["Sensor-based Planning and Control for Robotic Systems: Introducing Clarity and Perceivability"](/papers/2023-perceivability) has won the IEEE Technical Committee on Aerospace Controls (TCAC) best paper award. 
+Our paper ["Sensor-based Planning and Control for Robotic Systems: Introducing Clarity and Perceivability"](/papers/2023-perceivability) has won the IEEE Technical Committee on Aerospace Controls (TCAC) best paper award.
diff --git a/content/papers/2022-differentially-flat.md b/content/papers/2022-differentially-flat.md
@@ -10,16 +10,16 @@ authors:
     - Ryan K Cosner
     - Ugo Rosolia
     - Aaron D Ames
-    - dimitrapanagou 
+    - dimitrapanagou
 # give the main figure location, relative to /static/
 # link to publisher site (optional)
 link: https://doi.org/10.1109/LCSYS.2021.3136465
 # link to arxiv (optional)
-arxiv: 
+arxiv:
 # link to github (optional)
-code: 
+code:
 # link to video (optional)
-video: 
+video:
 # link to pdf (optional)
 pdf: /pdfs/2021-differentially-flat.pdf
 # abstract
@@ -39,8 +39,8 @@ problem."
 bib: |-
   @ARTICLE{9655322,
     author={Agrawal, Devansh R. and Parwana, Hardik and Cosner, Ryan K. and Rosolia, Ugo and Ames, Aaron D. and Panagou, Dimitra},
-    journal={IEEE Control Systems Letters}, 
-    title={A Constructive Method for Designing Safe Multirate Controllers for Differentially-Flat Systems}, 
+    journal={IEEE Control Systems Letters},
+    title={A Constructive Method for Designing Safe Multirate Controllers for Differentially-Flat Systems},
     year={2022},
     volume={6},
     number={},
diff --git a/content/papers/2022-observer-controller.md b/content/papers/2022-observer-controller.md
@@ -4,14 +4,14 @@ title:  "Safe and robust observer-controller synthesis using control barrier fun
 date:   2022-06-22
 image: /images/2022-observer-controller.png
 venue: "IEEE L-CSS and CDC 2022"
-authors: 
+authors:
     - devanshagrawal
     - dimitrapanagou
 link: https://doi.org/10.1109/LCSYS.2022.3185142
-arxiv: 
-code: 
+arxiv:
+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: 
+excerpt:
 pdf: /pdfs/2022-observer-controller.pdf
 bib: |-
   @article{agrawal2022safe,
diff --git a/content/papers/2023-gatekeeper-iros.md b/content/papers/2023-gatekeeper-iros.md
@@ -4,13 +4,13 @@ title:  "gatekeeper: Online safety verification and control for nonlinear system
 date:   2023-10-01
 image: /images/2023-gatekeeper-iros.png
 venue: "IEEE IROS 2023"
-authors: 
+authors:
     - devanshagrawal
     - Ruichang Chen
     - dimitrapanagou
-link: https://doi.org/10.1109/IROS55552.2023.10341790 
+link: https://doi.org/10.1109/IROS55552.2023.10341790
 arxiv: https://arxiv.org/abs/2211.14361
-code: https://github.com/dev10110/gatekeeper 
+code: https://github.com/dev10110/gatekeeper
 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: |-
@@ -21,5 +21,5 @@ bib: |-
     pages={259--266},
     year={2023},
     organization={IEEE}
-  } 
----
+  }
+---
diff --git a/content/papers/2023-perceivability.md b/content/papers/2023-perceivability.md
@@ -4,12 +4,12 @@ title:  "Sensor-based Planning and Control for Robotic Systems: Introducing Clar
 date:   2023-06-21
 image: /images/2023-clarity-and-perceivability.png
 venue: "IEEE L-CSS and CDC 2023"
-authors: 
+authors:
     - devanshagrawal
     - dimitrapanagou
 link: https://doi.org/10.1109/LCSYS.2023.3288493
-arxiv: 
-code: 
+arxiv:
+code:
 abstract: "In this letter, we first introduce an information measure, termed clarity , motivated by information entropy, and show that it has intuitive properties relevant to dynamic coverage control and informative path planning. Clarity defines on a scale of [0,1] the quality of the information that we have about a variable of interest in an environment. Clarity lower bounds the expected estimation error of any estimator, and is used as the information metric in the notion of perceivability , which is defined later on and is the primary contribution of this letter. Perceivability captures whether a given robotic (or more generally, sensing and control) system has sufficient sensing and actuation capabilities to gather desired information about an environment. We show that perceivability relates to the reachability of an augmented system, which encompasses the robot dynamics and the clarity about the environment, and we derive the corresponding Hamilton-Jacobi-Bellman equations. Thus, we provide an algorithm to measure an environment’s perceivability, and obtain optimal controllers that maximize information gain. In simulations, we demonstrate how clarity is a useful concept for planning trajectories, how perceivability can be determined using reachability analysis, and how a Control Barrier Function controller can be used to design controllers to maintain a desired level of information."
 pdf: /pdfs/2023-clarity-and-perceivability.pdf
 bib: |-
diff --git a/content/papers/2024-advances-in-cbfs.md b/content/papers/2024-advances-in-cbfs.md
@@ -4,7 +4,7 @@ title:  "Advances in the Theory of Control Barrier Functions: Addressing practic
 date:   2024-03-12
 image: /images/2024-advances-in-cbfs.png
 venue: "Annual Reviews in Control 2024"
-authors: 
+authors:
     - Kunal Garg
     - James Usevitch
     - Joseph Breeden
@@ -13,10 +13,10 @@ authors:
     - Hardik Parwana
     - dimitrapanagou
 link: https://doi.org/10.1016/j.arcontrol.2024.100945
-arxiv: 
-code: 
+arxiv:
+code:
 abstract: "This tutorial paper presents recent work of the authors that extends the theory of Control Barrier Functions (CBFs) to address practical challenges in the synthesis of safe controllers for autonomous systems and robots. We present novel CBFs and methods that handle safety constraints (i) with time and input constraints under disturbances, (ii) with high-relative degree under disturbances and input constraints, and (iii) that are affected by adversarial inputs and sampled-data effects. We then present novel CBFs and adaptation methods that prevent loss of validity of the CBF, as well as methods to tune the parameters of the CBF online to reduce conservatism in the system response. We also address the pointwise-only optimal character of CBF-induced control inputs by introducing a CBF formulation that accounts for future trajectories, as well as implementation challenges such as how to preserve safety when using output feedback control and zero-order-hold control. Finally we consider how to synthesize non-smooth CBFs when discontinuous inputs and multiple constraints are present."
-excerpt: 
+excerpt:
 pdf: /pdfs/2024-advances-in-cbfs.pdf
 bib: |-
   @article{garg2024advances,
@@ -28,4 +28,4 @@ bib: |-
     year={2024},
     publisher={Elsevier}
   }
----
+---
diff --git a/content/papers/2024-multiagent-coverage.md b/content/papers/2024-multiagent-coverage.md
@@ -4,11 +4,11 @@ title:  "Multi-Agent Clarity-Aware Dynamic Coverage with Gaussian Processes"
 date: 2024-12-16
 image: /images/2024-multiagent-coverage.png
 venue: "IEEE CDC 2024"
-authors: 
+authors:
     - devanshagrawal
     - dimitrapanagou
 arxiv:  https://arxiv.org/abs/2403.17917v1
-code: https://github.com/dev10110/multiagent-clarity-based-dynamic-coverage/ 
+code: https://github.com/dev10110/multiagent-clarity-based-dynamic-coverage/
 abstract: "This paper presents two algorithms for multi-agent dynamic coverage in spatiotemporal environments, where the coverage algorithms are informed by the method of data assimilation. In particular, we show that by explicitly modeling the environment using a Gaussian Process (GP) model, and considering the sensing capabilities and the dynamics of a team of robots, we can design an estimation algorithm and multi-agent coverage controller that explores and estimates the state of the spatiotemporal environment. The uncertainty of the estimate is quantified using clarity, an information-theoretic metric, where higher clarity corresponds to lower uncertainty. By exploiting the relationship between GPs and Stochastic Differential Equations (SDEs) we quantify the increase in clarity of the estimated state at any position due to a measurement taken from any other position. We use this relationship to design two new coverage controllers, both of which scale well with the number of agents exploring the domain, assuming the robots can share the map of the clarity over the spatial domain via communication. We demonstrate the algorithms through a realistic simulation of a team of robots collecting wind data over a region in Austria."
 pdf: /pdfs/2024-multiagent-coverage.pdf
 ---
diff --git a/content/papers/eclares.md b/content/papers/eclares.md
@@ -1,12 +1,12 @@
 ---
 layout: papers
 title:  "Eclares: Energy-Aware Clarity-Driven Ergodic Search"
-date: 2024-05-13   
+date: 2024-05-13
 authors:
     - devanshagrawal
     - kalebbennaveed
     - Christopher Vermillion
-    - dimitrapanagou 
+    - dimitrapanagou
 image: /images/2024-eclares.png
 venue: "IEEE ICRA 2024"
 link: https://doi.org/10.1109/ICRA57147.2024.10611286
@@ -25,4 +25,3 @@ bib: |-
     organization={IEEE}
   }
 ---
-
diff --git a/content/papers/iccbfs.md b/content/papers/iccbfs.md
@@ -8,8 +8,8 @@ authors:
     - devanshagrawal
     - dimitrapanagou
 link: https://doi.org/10.1109/CDC45484.2021.9682938
-arxiv: 
-code: 
+arxiv:
+code:
 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
@@ -23,13 +23,13 @@ Barrier Functions, and thus are applicable to systems of non-
 uniform relative degree. Simulation results are presented for the
 adaptive cruise control problem, and a spacecraft rendezvous
 problem."
-excerpt: 
+excerpt:
 pdf: /pdfs/2021-iccbfs.pdf
 bib: |-
   @INPROCEEDINGS{9682938,
     author={Agrawal, Devansh R. and Panagou, Dimitra},
-    booktitle={2021 60th IEEE Conference on Decision and Control (CDC)}, 
-    title={Safe Control Synthesis via Input Constrained Control Barrier Functions}, 
+    booktitle={2021 60th IEEE Conference on Decision and Control (CDC)},
+    title={Safe Control Synthesis via Input Constrained Control Barrier Functions},
     year={2021},
     volume={},
     number={},
diff --git a/content/people/dimitrapanagou.md b/content/people/dimitrapanagou.md
@@ -4,4 +4,3 @@ category: Faculty
 image: /images/dimitrapanagou.jpg
 link: https://websites.umich.edu/~dpanagou/
 ---
-
diff --git a/content/people/dmrc.md b/content/people/dmrc.md
@@ -7,7 +7,7 @@ image: "/images/cherenson.jpg"
 # start year, used for sorting
 year: 2024
 # link to personal website (optional)
-link: 
+link:
 # email id (optional)
 mail: mailto:dmrc@umich.edu
 ---
diff --git a/content/people/haejoonl.md b/content/people/haejoonl.md
@@ -3,11 +3,11 @@ title: Haejoon Lee
 # choose a category from [Faculty, PostDoc, PhD, Masters, Visiting, Alumni]. Be careful about the capitalization.
 category: PhD
 # give the path relative to static/
-image: 
+image:
 # start year, used for sorting
 year: 2023
 # link to personal website (optional)
-link: 
+link:
 # email id (optional)
 mail: mailto:haejoonl@umich.edu
 ---
diff --git a/content/people/taekyungkim.md b/content/people/taekyungkim.md
@@ -5,4 +5,4 @@ image: "/images/taekyungkim.jpg"
 year: 2023
 link: https://taekyung.me
 mail: mailto:taekyung@umich.edu
----
+---
diff --git a/hugo.toml b/hugo.toml
@@ -28,10 +28,8 @@ buildFuture = true
   [[menu.main]]
     name = "Projects"
     url = "/projects/"
-    weight = 4  
+    weight = 4
 
 [params]
   dateFormat = "Jan 2, 2006"
   homeText = "Distributed Autonomous Systems and Control Lab"
-
-
diff --git a/layouts/_default/list.html b/layouts/_default/list.html
@@ -11,7 +11,7 @@ <h1>{{ .Title }}</h1>
       <div class="col-md-3 mb-2">
         <p>{{ .Date | time.Format ":date_medium" }}</p>
         <a href="{{ .RelPermalink }}">
-          {{ if .Params.image }} 
+          {{ if .Params.image }}
           <img
             class="img-thumbnail img-fluid"
             src="{{ .Params.image}}"
diff --git a/layouts/_default/single.html b/layouts/_default/single.html
@@ -7,4 +7,3 @@ <h1>{{ .Title }}</h1>
 {{ .Content }}
 
 {{ end }}
-
diff --git a/layouts/papers/list.html b/layouts/papers/list.html
@@ -8,8 +8,8 @@ <h1>{{ .Title }}</h1>
 {{ range .Pages.ByPublishDate.Reverse.GroupByDate "2006" }}
   <div class="py-3">
     <h3> {{ .Key }} </h3>
-    {{ range .Pages }} 
-      {{ partial "paper-card" . }} 
+    {{ range .Pages }}
+      {{ partial "paper-card" . }}
     {{ end }}
   </div>
 {{ end }}
diff --git a/layouts/papers/single.html b/layouts/papers/single.html
@@ -11,4 +11,4 @@ <h3>Abstract</h3>
 
 {{ .Content }}
 
-{{ end }}
+{{ end }}
diff --git a/layouts/partials/head.html b/layouts/partials/head.html
@@ -5,4 +5,3 @@
     <link href="https://cdn.jsdelivr.net/npm/bootstrap@5.3.3/dist/css/bootstrap.min.css" rel="stylesheet" integrity="sha384-QWTKZyjpPEjISv5WaRU9OFeRpok6YctnYmDr5pNlyT2bRjXh0JMhjY6hW+ALEwIH" crossorigin="anonymous">
     {{ partial "style.html" . }}
   </head>
-
diff --git a/layouts/partials/paper-card.html b/layouts/partials/paper-card.html
diff --git a/layouts/partials/person-card.html b/layouts/partials/person-card.html
diff --git a/layouts/partials/style.html b/layouts/partials/style.html
diff --git a/layouts/people/people.html b/layouts/people/people.html
diff --git a/layouts/people/single.html b/layouts/people/single.html
