Controlling a hybrid system to a target set under parameter uncertainty can require informative actions that temporarily drive the system state away from the specified set. We propose a belief-informed dual-control algorithm that combines belief-space receding-horizon selection with an expected-decrease constraint on a …
Collision avoidance among convex bodies is a fundamental problem in robotics. Control Barrier Functions (CBFs) provide a practical framework for real-time safety filtering due to their computational efficiency. For general convex bodies, exact separation measures, such as distance or scaling factor, are typically compu …
Temporal logic provides designers a formal reasoning tool for specifying complex spatio-temporal behaviors and tasks for autonomous systems. Many techniques exist for control synthesis according to temporal logic specifications, spanning a large variety of systems, including robotics. However, the vast majority of impl …