9 papers
Risk-Aware Belief Control Barrier Functions over Random Finite Sets
Shaohang Han, Gang Chen, Yixi Cai +5
Ensuring robot safety in unknown, dynamic environments is a fundamental requirement. It involves inferring the states of an unknown and time-varying number of moving objects from n…
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…
Validation of Space Robotics in Underwater Environments via Disturbance Robustness Equivalency
Joris Verhagen, Elias Krantz, Chelsea Sidrane +9
We present an experimental validation framework for space robotics that leverages underwater environments to approximate microgravity dynamics. While neutral buoyancy conditions ma…
Marinarium: A Modular Experimental Facility for Reproducible Maritime and Space-Analog Field Robotics
Ignacio Torroba, David Dorner, Victor Nan Fernandez-Ayala +14
Field robotics research in maritime and space domains is constrained by a persistent gap between low-cost, low-fidelity simulation and costly offshore experimentation. Instrumented…
Exact Smooth Reformulations for Trajectory Optimization Under Signal Temporal Logic Specifications
Shaohang Han, Joris Verhagen, Jana Tumova
We study motion planning under Signal Temporal Logic (STL), a useful formalism for specifying spatial-temporal requirements. We pose STL synthesis as a trajectory optimization prob…