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cs.RO2023
Not All Actions Are Created Equal: Bayesian Optimal Experimental Design for Safe and Optimal Nonlinear System Identification
Parker Ewen, Gitesh Gunjal, Joey Wilson +3
Uncertainty in state or model parameters is common in robotics and typically handled by acquiring system measurements that yield information about the uncertain quantities of inter…
cs.RO2023
RADIUS: Risk-Aware, Real-Time, Reachability-Based Motion Planning
Jinsun Liu, Challen Enninful Adu, Lucas Lymburner +3
Deterministic methods for motion planning guarantee safety amidst uncertainty in obstacle locations by trying to restrict the robot from operating in any possible location that an…