12 papers
Where to Put Safety? Control Barrier Function Placement in Networked Control Systems
Severin Beger, Yuling Chen, Sandra Hirche
Control barrier functions (CBFs) are widely used to enforce safety in autonomous systems, yet their placement within networked control architectures remains largely unexplored. In…
HumanHalo -- Safe and Efficient 3D Navigation Among Humans via Minimally Conservative MPC
Simon Schaefer, Helen Oleynikova, Sandra Hirche +1
Safe and efficient robotic navigation among humans is essential for integrating robots into everyday environments. Most existing approaches focus on simplified 2D crowd navigation…
Learning Dynamics from Infrequent Output Measurements for Uncertainty-Aware Optimal Control
Robert Lefringhausen, Theodor Springer, Sandra Hirche
Reliable optimal control is challenging when the dynamics of a nonlinear system are unknown and only infrequent, noisy output measurements are available. This work addresses this s…
Barrier Certificates for Unknown Systems with Latent States and Polynomial Dynamics using Bayesian Inference
Robert Lefringhausen, Sami Leon Noel Aziz Hanna, Elias August +1
Certifying safety in dynamical systems is crucial, but barrier certificates - widely used to verify that system trajectories remain within a safe region - typically require explici…
UniConFlow: A Unified Constrained Flow-Matching Framework for Certified Motion Planning
Zewen Yang, Xiaobing Dai, Dian Yu +4
Generative models have become increasingly powerful tools for robot motion generation, enabling flexible and multimodal trajectory generation across various tasks. Yet, most existi…
Online Bayesian Learning of Agent Behavior in Differential Games
Francesco Bianchin, Robert Lefringhausen, Sandra Hirche
This work introduces an online Bayesian game-theoretic method for behavior identification in multi-agent dynamical systems. By casting Hamilton-Jacobi-Bellman optimality conditions…