Risk-Averse Control via CVaR Barrier Functions: Application to Bipedal Robot Locomotion.

Mohamadreza Ahmadi Xiaobin Xiong Aaron D. Ames

Published in: IEEE Control. Syst. Lett. (2022)

Keyphrases

risk averse
robot control
mobile robot
autonomous robots
robotic systems
risk neutral
utility function
risk measures
risk aversion
control system
robot motion
motion control
stochastic programming
humanoid robot
expected utility
optimal control
decision makers
rough terrain
artificial intelligence
quadruped robot