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cs.RO2025
EigenSafe: A Spectral Framework for Learning-Based Probabilistic Safety Assessment
Inkyu Jang, Jonghae Park, Sihyun Cho +3
We present EigenSafe, an operator-theoretic framework for safety assessment of learning-enabled stochastic systems. In many robotic applications, the dynamics are inherently stocha…
eess.SY2025
Invariance Guarantees using Continuously Parametrized Control Barrier Functions
Inkyu Jang, H. Jin Kim
Constructing a control invariant set with an appropriate shape that fits within a given state constraint is a fundamental problem in safety-critical control but is known to be diff…
cs.RO2025
Enhancing Feature Tracking Reliability for Visual Navigation using Real-Time Safety Filter
Dabin Kim, Inkyu Jang, Youngsoo Han +2
Vision sensors are extensively used for localizing a robot's pose, particularly in environments where global localization tools such as GPS or motion capture systems are unavailabl…