Generative Modeling of Residuals for Real-Time Risk-Sensitive Safety with Discrete-Time Control Barrier Functions
Ryan K. Cosner,Igor Sadalski,Jana K. Woo,Preston Culbertson,Aaron D. Ames,Ryan K. Cosner,Igor Sadalski,Jana K. Woo,Preston Culbertson,Aaron D. Ames
A key source of brittleness for robotic systems is the presence of model uncertainty and external disturbances. Most existing approaches to robust control either seek to bound the worst-case disturbance (which results in conservative behavior), or to learn a deterministic dynamics model (which is unable to capture uncertain dynamics or disturbances). This work proposes a different approach: traini...
