Robot control for tasks such as moving around obstacles or gras** objects has advanced
significantly in the last few decades. However, controlling robots to perform complex tasks is …

While neural networks have achieved high accuracy on standard image classification
benchmarks, their accuracy drops to nearly zero in the presence of small adversarial …

We consider the problem of generating motion plans for a robot that are guaranteed to
succeed despite uncertainty in the environment, parametric model uncertainty, and …

Motivated by the need for formal guarantees on the stability and safety of controllers for
challenging robot control tasks, we present a control design procedure that explicitly seeks …

In this paper, a method to synthesize controllers using finite time convergence control barrier
functions guided by linear temporal logic specifications for continuous time multi-agent …

Birds routinely execute post-stall maneuvers with a speed and precision far beyond the
capabilities of our best aircraft control systems. One remarkable example is a bird exploiting …

Recent trends pushing robots into unstructured environments with limited sensors have
motivated considerable work on planning under uncertainty and stochastic optimal control …

In this paper, we propose a new class nonlinear hybrid controller (NHC) for swinging-up and
stabilizing the (under-actuated) rotary inverted pendulum system. First, the swing-up …

In this paper we consider the problem of generating motion plans for a nonlinear dynamical
system that are guaranteed to succeed despite uncertainty in the environment, parametric …

In this paper, a safe trajectory planning and tracking algorithm for autonomous vehicles is
proposed. Specially, the safety problem considers the geometric constraints including the …