no code implementations • 13 Dec 2022 • Craig Knuth, Glen Chou, Jamie Reese, Joe Moore
We present a method for providing statistical guarantees on runtime safety and goal reachability for integrated planning and control of a class of systems with unknown nonlinear stochastic underactuated dynamics.
no code implementations • 18 Nov 2021 • Adam Polevoy, Craig Knuth, Katie M. Popek, Kapil D. Katyal
Robot navigation traditionally relies on building an explicit map that is used to plan collision-free trajectories to a desired target.
no code implementations • 22 Dec 2020 • Kapil D. Katyal, Adam Polevoy, Joseph Moore, Craig Knuth, Katie M. Popek
Safe and high-speed navigation is a key enabling capability for real world deployment of robotic systems.
no code implementations • 18 Oct 2020 • Craig Knuth, Glen Chou, Necmiye Ozay, Dmitry Berenson
Our method imposes the feedback law existence as a constraint in a sampling-based planner, which returns a feedback policy around a nominal plan ensuring that, if the Lipschitz constant estimate is valid, the true system is safe during plan execution, reaches the goal, and is ultimately invariant in a small set about the goal.