2 papers
eess.SY2025
Belief Space Control of Safety-Critical Systems Under State-Dependent Measurement Noise
Rohan Walia, Mitchell Black, Andrew Schoer +1
Safety-critical control is imperative for deploying autonomous systems in the real world. Control Barrier Functions (CBFs) offer strong safety guarantees when accurate system and s…
cs.RO2024
Risk-aware MPPI for Stochastic Hybrid Systems
Hardik Parwana, Mitchell Black, Bardh Hoxha +4
Path Planning for stochastic hybrid systems presents a unique challenge of predicting distributions of future states subject to a state-dependent dynamics switching function. In th…