3 accepted papers
Ensuring safety in partially-known environments is a critical problem in robotics since the environment is perceived through sensors and the environment cannot be completely known ahead of time. Prior work has considered the problem of finding positive control invariant sets (PCIS). However, this ap…
Autonomous mobile robots are required to operate in partially known and unstructured environments. It is imperative to guarantee safety of such systems for their successful deployment. Current state of the art does not fully exploit the sensor and dynamic capabilities of a robot. Also, given the non…
We address the problem of verifying motion plans for aerial robots in uncertain and partially-known environments. Thereby, the initial state of the robot is uncertain due to errors from the state estimation and the motion is uncertain due to wind disturbances and control errors caused by sensor nois…