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cs.RO2026
Refining Almost-Safe Value Functions on the Fly
Sander Tonkens, Sosuke Kojima, Chenhao Liu +2
Control Barrier Functions (CBFs) are a powerful tool for ensuring robotic safety, but designing or learning valid CBFs for complex systems is a significant challenge. While Hamilto…
cs.RO2025
Sensor-Based Distributionally Robust Control for Safe Robot Navigation in Dynamic Environments
Kehan Long, Yinzhuang Yi, Zhirui Dai +3
We introduce a novel method for mobile robot navigation in dynamic, unknown environments, leveraging onboard sensing and distributionally robust optimization to impose probabilisti…