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Generative Modeling of Residuals for Real-Time Risk-Sensitive Safety with Discrete-Time Control Barrier Functions.
Ryan K. Cosner
Igor Sadalski
Jana K. Woo
Preston Culbertson
Aaron D. Ames
Published in:
ICRA (2024)
Keyphrases
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risk sensitive
real time
optimal control
control system
control policies
utility function
control strategy
control strategies
markov decision chains
generative model
least squares
markov chain
dynamic programming
basis functions