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cs.RO2023
Belief Control Barrier Functions for Risk-aware Control
Matti Vahs, Christian Pek, Jana Tumova
Ensuring safety in real-world robotic systems is often challenging due to unmodeled disturbances and noisy sensor measurements. To account for such stochastic uncertainties, many r…
cs.RO2023
Risk-aware Control for Robots with Non-Gaussian Belief Spaces
Matti Vahs, Jana Tumova
This paper addresses the problem of safety-critical control of autonomous robots, considering the ubiquitous uncertainties arising from unmodeled dynamics and noisy sensors. To tak…
cs.RO2023
Non-smooth Control Barrier Functions for Stochastic Dynamical Systems
Matti Vahs, Jana Tumova
Uncertainties arising in various control systems, such as robots that are subject to unknown disturbances or environmental variations, pose significant challenges for ensuring syst…