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03/11/2023
Probabilistic Guarantees for Nonlinear Safety-Critical Optimal Control
Leveraging recent developments in black-box risk-aware verification, we ...
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10/19/2022
Synthesizing Reactive Test Environments for Autonomous Systems: Testing Reach-Avoid Specifications with Multi-Commodity Flows
We study automated test generation for verifying discrete decision-makin...
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09/15/2022
Robust Locomotion on Legged Robots through Planning on Motion Primitive Graphs
The functional demands of robotic systems often require completing vario...
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03/02/2022
Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision
With the increasing prevalence of complex vision-based sensing methods f...
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01/04/2022
Test and Evaluation of Quadrupedal Walking Gaits through Sim2Real Gap Quantification
In this letter, the authors propose a two-step approach to evaluate and ...
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12/15/2021
Safety-Aware Preference-Based Learning for Safety-Critical Control
Bringing dynamic robots into the wild requires a tenuous balance between...
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10/03/2021
Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments
This paper considers centralized mission-planning for a heterogeneous mu...
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09/19/2021
Model-Free Safety-Critical Control for Robotic Systems
This paper presents a framework for the safety-critical control of robot...
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09/10/2021
Interactive multi-modal motion planning with Branch Model Predictive Control
Motion planning for autonomous robots and vehicles in presence of uncont...
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06/18/2021