24 citations · 81 across the 10 of their papers we have counts for
4 papers · 1 filter
Distributionally robust risk map for learning-based motion planning and control: A semidefinite programming approach
Astghik Hakobyan, Insoon Yang
This paper proposes a novel safety specification tool, called the distributionally robust risk map (DR-risk map), for a mobile robot operating in a learning-enabled environment. Gi…
Learning-based distributionally robust motion control with Gaussian processes
Astghik Hakobyan, Insoon Yang
Safety is a critical issue in learning-based robotic and autonomous systems as learned information about their environments is often unreliable and inaccurate. In this paper, we pr…
Safe reinforcement learning for probabilistic reachability and safety specifications: A Lyapunov-based approach
Subin Huh, Insoon Yang
Emerging applications in robotics and autonomous systems, such as autonomous driving and robotic surgery, often involve critical safety constraints that must be satisfied even when…
Wasserstein Distributionally Robust Motion Control for Collision Avoidance Using Conditional Value-at-Risk
Astghik Hakobyan, Insoon Yang
In this paper, a risk-aware motion control scheme is considered for mobile robots to avoid randomly moving obstacles when the true probability distribution of uncertainty is unknow…