3 papers
cs.RO2026
CC-VPSTO: Chance-Constrained Via-Point-Based Stochastic Trajectory Optimisation for Online Robot Motion Planning under Uncertainty
Lara Brudermüller, Guillaume Berger, Julius Jankowski +3
Reliable robot autonomy hinges on decision-making systems that account for uncertainty without imposing overly conservative restrictions on the robot's action space. We introduce C…
cs.LG2025
PAC Learnability of Scenario Decision-Making Algorithms: Necessary Conditions and Sufficient Conditions
Guillaume O. Berger, Raphaël M. Jungers
We investigate the Probably Approximately Correct (PAC) property of scenario decision algorithms, which refers to their ability to produce decisions with an arbitrarily low risk of…
eess.SY2025
Synthesizing Min-Max Control Barrier Functions For Switched Affine Systems
Sara Kamali, Guillaume O. Berger, Sriram Sankaranarayanan
We study the problem of synthesizing non-smooth control barrier functions (CBFs) for continuous-time switched affine systems. Switched affine systems are defined by a set of affine…