3 accepted papers
Autonomous navigation and exploration in unmapped environments remains a significant challenge in robotics due to the difficulty robots face in making commonsense inference of unobserved geometries. Recent advancements have demonstrated that generative modeling techniques, particularly diffusion mod
When exploring new areas, robotic systems generally exclusively plan and execute controls over geometry that has been directly measured. This planning paradigm can lead to unintuitive exploration or replanning latency when entering areas that were previous obstructed from view. To address this we pr…
We present a framework that uses control Lyapunov functions (CLFs) to implement provably stable path-following controllers for autonomous mobile platforms. Our approach is based on learning a guaranteed CLF for path following by using recent approaches --- combining machine learning with automated t…