Search Results for author:
Found 6 papers, 1 papers with code
Beyond Jacobian-based tasks: Extended set-based tasks for multi-task execution and prioritization
We propose a mathematical representation of such tasks that allows for the execution of more complex and time-varying prioritized stacks of tasks using kinematic and dynamic robot models alike.
A Constrained-Optimization Approach to the Execution of Prioritized Stacks of Learned Multi-Robot Tasks
This paper presents a constrained-optimization formulation for the prioritized execution of learned robot tasks.
Safe Reinforcement Learning Using Robust Control Barrier Functions
Reinforcement Learning (RL) has been shown to be effective in many scenarios.
Model-based Reinforcement Learning
reinforcement-learning
+2
Safety of Dynamical Systems with Multiple Non-Convex Unsafe Sets Using Control Barrier Functions
This paper presents an approach to deal with safety of dynamical systems in presence of multiple non-convex unsafe sets.
Constraint Learning for Control Tasks with Limited Duration Barrier Functions
When deploying autonomous agents in unstructured environments over sustained periods of time, adaptability and robustness oftentimes outweigh optimality as a primary consideration.
Barrier-Certified Adaptive Reinforcement Learning with Applications to Brushbot Navigation
This paper presents a safe learning framework that employs an adaptive model learning algorithm together with barrier certificates for systems with possibly nonstationary agent dynamics.
