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cs.RO2025
Koopman Operators in Robot Learning
Lu Shi, Masih Haseli, Giorgos Mamakoukas +5
Koopman operator theory offers a rigorous treatment of dynamics and has been emerging as an alternative modeling and learning-based control method across various robotics sub-domai…
cs.RO2025
A Koopman Operator-based NMPC Framework for Mobile Robot Navigation under Uncertainty
Xiaobin Zhang, Mohamed Karim Bouafoura, Lu Shi +1
Mobile robot navigation can be challenged by system uncertainty. For example, ground friction may vary abruptly causing slipping, and noisy sensor data can lead to inaccurate feedb…