3 papers
eess.SY2026
Latent Representations for Control Design with Provable Stability and Safety Guarantees
Paul Lutkus, Kaiyuan Wang, Lars Lindemann +1
We initiate a formal study on the use of low-dimensional latent representations of dynamical systems for verifiable control synthesis. Our main goal is to enable the application of…
cs.RO2025
Nonconvex Obstacle Avoidance using Efficient Sampling-Based Distance Functions
Paul Lutkus, Michelle S. Chong, Lars Lindemann
We consider nonconvex obstacle avoidance where a robot described by nonlinear dynamics and a nonconvex shape has to avoid nonconvex obstacles. Obstacle avoidance is a fundamental p…
eess.SY2025
Incremental Composition of Learned Control Barrier Functions in Unknown Environments
Paul Lutkus, Deepika Anantharaman, Stephen Tu +1
We consider the problem of safely exploring a static and unknown environment while learning valid control barrier functions (CBFs) from sensor data. Existing works either assume kn…