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eess.SY2025
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…
eess.SY2024
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…