From the 1 of 5 linked papers with an AI index.
5 papers
Risk-Aware Belief Control Barrier Functions over Random Finite Sets
Shaohang Han, Gang Chen, Yixi Cai +5
The paper proposes a risk‑aware belief control barrier function framework that ensures robot safety in dynamic, uncertain environments by modeling multi‑object state uncertainty wi…
Exact Smooth Reformulations for Trajectory Optimization Under Signal Temporal Logic Specifications
Shaohang Han, Joris Verhagen, Jana Tumova
We study motion planning under Signal Temporal Logic (STL), a useful formalism for specifying spatial-temporal requirements. We pose STL synthesis as a trajectory optimization prob…
Risk-Aware Robot Control in Dynamic Environments Using Belief Control Barrier Functions
Shaohang Han, Matti Vahs, Jana Tumova
Ensuring safety for autonomous robots operating in dynamic environments can be challenging due to factors such as unmodeled dynamics, noisy sensor measurements, and partial observa…
CageCoOpt: Enhancing Manipulation Robustness through Caging-Guided Morphology and Policy Co-Optimization
Yifei Dong, Shaohang Han, Xianyi Cheng +5
Uncertainties in contact dynamics and object geometry remain significant barriers to robust robotic manipulation. Caging mitigates these uncertainties by constraining an object's m…
Finding Control Invariant Sets via Lipschitz Constants of Linear Programs
Matti Vahs, Shaohang Han, Jana Tumova
Control invariant sets play an important role in safety-critical control and find broad application in numerous fields such as obstacle avoidance for mobile robots. However, findin…