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cs.RO2022
Robust and Safe Autonomous Navigation for Systems with Learned SE(3) Hamiltonian Dynamics
Zhichao Li, Thai Duong, Nikolay Atanasov
Stability and safety are critical properties for successful deployment of automatic control systems. As a motivating example, consider autonomous mobile robot navigation in a compl…
cs.RO2021
Safe Autonomous Navigation for Systems with Learned SE(3) Hamiltonian Dynamics
Zhichao Li, Thai Duong, Nikolay Atanasov
Safe autonomous navigation in unknown environments is an important problem for mobile robots. This paper proposes techniques to learn the dynamics model of a mobile robot from traj…