3 papers
cs.RO2026
Provably Guaranteed Polytopic Uncertainty Quantification for SLAM
Guangyang Zeng, Yulong Gao, Yuan Shen +4
In safety-critical robotics applications, guaranteed and practical uncertainty quantification (UQ) in perception is vital. Many existing works either offer no formal containment gu…
eess.SY2025
Learning-based Homothetic Tube MPC
Yulong Gao, Shuhao Yan, Jian Zhou +1
In this paper, we study homothetic tube model predictive control (MPC) of discrete-time linear systems subject to bounded additive disturbance and mixed constraints on the state an…
cs.RO2025
Robust Predictive Motion Planning by Learning Obstacle Uncertainty
Jian Zhou, Yulong Gao, Ola Johansson +2
Safe motion planning for robotic systems in dynamic environments is nontrivial in the presence of uncertain obstacles, where estimation of obstacle uncertainties is crucial in pred…