3 papers
cs.RO2026
Contingency-Aware Planning via Certified Neural Hamilton-Jacobi Reachability
Kasidit Muenprasitivej, Derya Aksaray
Hamilton-Jacobi (HJ) reachability provides formal safety guarantees for dynamical systems, but solving high-dimensional HJ partial differential equations limits its use in real-tim…
cs.RO2025
Probabilistically-Safe Bipedal Navigation over Uncertain Terrain via Conformal Prediction and Contraction Analysis
Kasidit Muenprasitivej, Ye Zhao, Glen Chou
We address the challenge of enabling bipedal robots to traverse rough terrain by developing probabilistically safe planning and control strategies that ensure dynamic feasibility a…
cs.RO2024
Bipedal Safe Navigation over Uncertain Rough Terrain: Unifying Terrain Mapping and Locomotion Stability
Kasidit Muenprasitivej, Jesse Jiang, Abdulaziz Shamsah +2
We study the problem of bipedal robot navigation in complex environments with uncertain and rough terrain. In particular, we consider a scenario in which the robot is expected to r…