most citedA Contact-Safe Reinforcement Learning Framework for Contact-Rich Robot Manipulation

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math.OC2023★ 1 cited

Verification and Synthesis of Robust Control Barrier Functions: Multilevel Polynomial Optimization and Semidefinite Relaxation

Shucheng Kang, Yuxiao Chen, Heng Yang +1

We study the problem of verification and synthesis of robust control barrier functions (CBF) for control-affine polynomial systems with bounded additive uncertainty and convex poly…