Abstract
We consider robotic motion planning and control under unknown dynamics with hybrid state observations, where state measurements are available only in parts of the state space. Existing work combines system identification, predicted reachability, graph search and controller synthesis in a hierarchical framework using local affine approximated models over polytopic state space partitioning, but requires state observations for identification and feedback control. Based on this framework, we address blind regions by selecting nominal dynamics and precomputing open-loop control sequences before observation is lost. Since the true dynamics may differ from the selected nominal model, the robot may exit a blind polytope through an unintended facet. We quantify this transition risk and incorporate the possible outcomes into a stochastic transition system. The high-level planning problem is formulated as a stochastic shortest path problem, whose policy guides controller synthesis. A case study demonstrates that the method guides the robot from an initial state to a target while balancing route efficiency and the risks associated with traversing blind regions.
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Publication details
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- Open access
- Green open access
Cite this article
APA 7
Zhang, Z., & Ornik, M. (2026). Risk-Aware Motion Planning and Control under Unknown Dynamics with Hybrid Observations. https://omanscience.com/en/articles/risk-aware-motion-planning-and-control-under-unknown-dynamics-with-hybrid-observations
MLA 9
Zhang, Zhiquan, and Melkior Ornik. "Risk-Aware Motion Planning and Control under Unknown Dynamics with Hybrid Observations." https://omanscience.com/en/articles/risk-aware-motion-planning-and-control-under-unknown-dynamics-with-hybrid-observations.
Chicago (author–date)
Zhang, Zhiquan, and Melkior Ornik. 2026. "Risk-Aware Motion Planning and Control under Unknown Dynamics with Hybrid Observations." https://omanscience.com/en/articles/risk-aware-motion-planning-and-control-under-unknown-dynamics-with-hybrid-observations.
Harvard
Zhang, Z. and Ornik, M. (2026) 'Risk-Aware Motion Planning and Control under Unknown Dynamics with Hybrid Observations', Available at: https://omanscience.com/en/articles/risk-aware-motion-planning-and-control-under-unknown-dynamics-with-hybrid-observations.
Vancouver
Zhang Z, Ornik M. Risk-Aware Motion Planning and Control under Unknown Dynamics with Hybrid Observations. https://omanscience.com/en/articles/risk-aware-motion-planning-and-control-under-unknown-dynamics-with-hybrid-observations
IEEE
Z. Zhang, and M. Ornik, "Risk-Aware Motion Planning and Control under Unknown Dynamics with Hybrid Observations," https://omanscience.com/en/articles/risk-aware-motion-planning-and-control-under-unknown-dynamics-with-hybrid-observations.