In collaborative human-robot manipulation, a robot must predict human intents and adapt its
actions accordingly to smoothly execute tasks. However, the human's intent in turn depends …

This paper extends the gap-based navigation technique Potential Gap with safety
guarantees at the local planning level for a kinematic planar nonholonomic robot model …

Safety in dynamic systems with prevalent uncertainties is crucial. Current robust safe
controllers, designed primarily for uni-modal uncertainties, may be either overly conservative …

We present safe control of partially-observed linear time-varying systems in the presence of
unknown and unpredictable process and measurement noise. We introduce a control …