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cs.RO2026
Barrier Certificate Synthesis for Non-Polynomial Robotic Dynamics via Polynomial Lifting
Shivam Chaubey, Francesco Verdoja, Shankar Deka +1
Safe operation of robotic systems requires trajectories to remain within a prescribed safe set under admissible control inputs. Barrier certificates provide such guarantees by cert…
cs.RO2024
Jointly Learning Cost and Constraints from Demonstrations for Safe Trajectory Generation
Shivam Chaubey, Francesco Verdoja, Ville Kyrki
Learning from Demonstration allows robots to mimic human actions. However, these methods do not model constraints crucial to ensure safety of the learned skill. Moreover, even when…