CoBL-Diffusion: Diffusion-Based Conditional Robot Planning in Dynamic Environments Using Control Barrier and Lyapunov Functions.
Kazuki MizutaKaren LeungPublished in: CoRR (2024)
Keyphrases
- dynamic environments
- mobile robot
- adaptive control
- path planning
- collision free
- changing environment
- belief space
- autonomous navigation
- autonomous robots
- potential field
- motion planning
- autonomous agents
- robotic systems
- control theory
- real environment
- visual servoing
- plan execution
- diffusion process
- autonomous systems
- sensory information
- obstacle avoidance
- closed loop
- control system
- nonlinear systems
- simultaneous localization and mapping
- robotic arm
- dynamical systems
- agent systems
- stability analysis
- multi robot
- sufficient conditions
- robot teams
- single agent
- control method