4 papers · 1 filter
Temporal logics and formal synthesis for robot planning and control
Jana Tumova, Joris Verhagen, Matti Vahs
As robots move from controlled environments into real-world settings, it becomes increasingly crucial to ensure that they perform as expected. A key step toward that goal is a rigo…
Safety-critical Control Under Partial Observability: Reach-Avoid POMDP meets Belief Space Control
Matti Vahs, Joris Verhagen, Jana Tumova
Partially Observable Markov Decision Processes (POMDPs) provide a principled framework for robot decision-making under uncertainty. Solving reach-avoid POMDPs, however, requires co…
Learning to Localize Reference Trajectories in Image-Space for Visual Navigation
Finn Lukas Busch, Matti Vahs, Quantao Yang +4
We present LoTIS, a model for visual navigation that provides robot-agnostic image-space guidance by localizing a reference RGB trajectory in the robot's current view, without requ…
Parameter-Robust MPPI for Safe Online Learning of Unknown Parameters
Matti Vahs, Jaeyoun Choi, Niklas Schmid +2
Robots deployed in dynamic environments must remain safe even when key physical parameters are uncertain or change over time. We propose Parameter-Robust Model Predictive Path Inte…