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cs.RO2026
Adaptive Risk-Certified Event-Triggered Replanning for Dynamic Navigation
Richie R. Suganda, Bin Hu
Safe navigation in dynamic environments requires robots to plan under obstacle predictions whose errors are uncertain, non-stationary, and can induce rare but safety-critical failu…
cs.RO2026
Neural-ESO: A Dual-Pathway Architecture for Provably Robust Learning-Based Control
Fan Zhang, Richie Suganda, Jinfeng Chen +4
A learning-enabled disturbance-rejection framework based on a Neural Extended State Observer (Neural-ESO) is presented in this letter. Unlike existing learning-based control method…
cs.RO2026
Formation-Aware Adaptive Conformalized Perception for Safe Leader-Follower Multi-Robot Systems
Richie R. Suganda, Bin Hu
This paper considers the perception safety problem in distributed vision-based leader-follower formations, where each robot uses onboard perception to estimate relative states, tra…