2 papers
cs.RO2023
Efficient Belief Road Map for Planning Under Uncertainty
Zhenyang Chen, Hongzhe Yu, Yongxin Chen
Robotic systems, particularly in demanding environments like narrow corridors or disaster zones, often grapple with imperfect state estimation. Addressing this challenge requires a…
math.OC2023
Data-driven optimal control under safety constraints using sparse Koopman approximation
Hongzhe Yu, Joseph Moyalan, Umesh Vaidya +1
In this work we approach the dual optimal reach-safe control problem using sparse approximations of Koopman operator. Matrix approximation of Koopman operator needs to solve a leas…