4 papers
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…
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…
An Efficient Risk-aware Branch MPC for Automated Driving that is Robust to Uncertain Vehicle Behaviors
Luyao Zhang, George Pantazis, Shaohang Han +1
One of the critical challenges in automated driving is ensuring safety of automated vehicles despite the unknown behavior of the other vehicles. Although motion prediction modules…
Reinforcement Learning for Safe Robot Control using Control Lyapunov Barrier Functions
Desong Du, Shaohang Han, Naiming Qi +3
Reinforcement learning (RL) exhibits impressive performance when managing complicated control tasks for robots. However, its wide application to physical robots is limited by the a…