MORALS: Analysis of High-Dimensional Robot Controllers via Topological Tools in a Latent Space

ER Vieira, A Sivaramakrishnan… - … on Robotics and …, 2024 - ieeexplore.ieee.org
Estimating the region of attraction (RoA) for a robot controller is essential for safe application
and controller composition. Many existing methods require a closed-form expression that …

Identifying nonlinear dynamics with high confidence from sparse data

B Batko, M Gameiro, Y Hung, W Kalies… - SIAM Journal on Applied …, 2024 - SIAM
We introduce a novel procedure that, given sparse data generated from a stationary
deterministic nonlinear dynamical system, can characterize specific local and/or global …

Safety and Efficiency for High-Dimensional Robots: Integrating Learning, Planning and Control

S Tangirala - 2024 - search.proquest.com
In this thesis, I tackle two pivotal challenges in robotics: enhancing safety control via regions
of attraction (RoA) estimation and boosting the computational efficiency of motion planning …