Distributionally Robust Optimization with Unscented Transform for Learning-Based Motion Control in Dynamic Environments
Astghik Hakobyan,Insoon Yang,Astghik Hakobyan,Insoon Yang
Safety is one of the main challenges when applying learning-based motion controllers to practical robotic systems, especially when the dynamics of the robots and their surrounding dynamic environments are unknown. This issue is further exacerbated when the learned information is unreliable and inaccurate. In this paper, we aim to enhance the safety of learning-enabled mobile robots in dynamic envi...
