Fault Tolerant Neural Control Barrier Functions for Robotic Systems under Sensor Faults and Attacks.
Hongchao ZhangLuyao NiuAndrew ClarkRadha PoovendranPublished in: ICRA (2024)
Keyphrases
- fault tolerant
- robotic systems
- fault tolerance
- fault isolation
- control architecture
- distributed systems
- mobile robot
- autonomous robots
- vision system
- neural network
- robotic manipulator
- load balancing
- motor control
- fault diagnosis
- robot behavior
- object manipulation
- multi robot
- search and rescue
- real time
- fault detection
- error detection
- state machine
- manipulation tasks
- safety critical
- imitation learning
- mobile agent system
- learning environment
- control system
- sensor data