7 papers
RAM: Reachability Across Morphologies
Tim Walter, Xinyu Chen, Jonathan Külz +1
Many stages of the robotic lifecycle, from morphology synthesis to operation, rely fundamentally on the reachable workspace. However, current methods for approximating workspaces a…
Leveraging Analytic Gradients in Provably Safe Reinforcement Learning
Tim Walter, Hannah Markgraf, Jonathan Külz +1
The deployment of autonomous robots in safety-critical applications requires safety guarantees. Provably safe reinforcement learning is an active field of research that aims to pro…
Backward Reachability Analysis of Perturbed Continuous-Time Linear Systems Using Set Propagation
Mark Wetzlinger, Matthias Althoff
Backward reachability analysis computes the set of states that reach a target set under the competing influence of control input and disturbances. Depending on their interplay, the…
A Design Co-Pilot for Task-Tailored Manipulators
Jonathan Külz, Sehoon Ha, Matthias Althoff
Although robotic manipulators are used in an ever-growing range of applications, robot manufacturers typically follow a ``one-fits-all'' philosophy, employing identical manipulator…
Automatic Geometric Decomposition for Analytical Inverse Kinematics
Daniel Ostermeier, Jonathan Külz, Matthias Althoff
Calculating the inverse kinematics (IK) is a fundamental challenge in robotics. Compared to numerical or learning-based approaches, analytical IK provides higher efficiency and acc…
Reachset-Conformant System Identification
Laura Lützow, Matthias Althoff
Formal verification techniques play a pivotal role in ensuring the safety of complex cyber-physical systems. To transfer model-based verification results to the real world, we requ…