3 papers
eess.SY2026
Learning-Based Measurement-Robust Control Barrier Functions for Obstacle Avoidance under State Estimation Error
Nicholas Rober, Yixuan Jia, Jonathan P. How
Safety filters are an effective tool for enforcing constraints in safety-critical systems, but most existing methods assume perfect state information, which is rarely available in…
eess.SY2026
GUARDIAN: Safety Filtering for Systems with Perception Models Subject to Adversarial Attacks
Nicholas Rober, Alex Rose, Jonathan P. How
Safety filtering is an effective method for enforcing constraints in safety-critical systems, but existing methods typically assume perfect state information. This limitation is es…
cs.RO2025
DYNUS: Uncertainty-aware Trajectory Planner in Dynamic Unknown Environments
Kota Kondo, Mason Peterson, Nicholas Rober +5
This paper introduces DYNUS, an uncertainty-aware trajectory planner designed for dynamic unknown environments. Operating in such settings presents many challenges -- most notably,…