4 citations · 5 across the 13 of their papers we have counts for
8 papers · 1 filter
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…
CageCoOpt: Enhancing Manipulation Robustness through Caging-Guided Morphology and Policy Co-Optimization
Yifei Dong, Shaohang Han, Xianyi Cheng +5
Uncertainties in contact dynamics and object geometry remain significant barriers to robust robotic manipulation. Caging mitigates these uncertainties by constraining an object's m…
Forward Invariance in Trajectory Spaces for Safety-critical Control
Matti Vahs, Rafael I. Cabral Muchacho, Florian T. Pokorny +1
Useful robot control algorithms should not only achieve performance objectives but also adhere to hard safety constraints. Control Barrier Functions (CBFs) have been developed to p…
Robust STL Control Synthesis under Maximal Disturbance Sets
Joris Verhagen, Lars Lindemann, Jana Tumova
This work addresses maximally robust control synthesis under unknown disturbances. We consider a general nonlinear system, subject to a Signal Temporal Logic (STL) specification, a…
Transitional Grid Maps: Joint Modeling of Static and Dynamic Occupancy
José Manuel Gaspar Sánchez, Leonard Bruns, Jana Tumova +2
Autonomous agents rely on sensor data to construct representations of their environments, essential for predicting future events and planning their actions. However, sensor measure…
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…
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…