Robust Safety under Stochastic Uncertainty with Discrete-Time Control Barrier Functions.
Ryan K. CosnerPreston CulbertsonAndrew J. TaylorAaron D. AmesPublished in: Robotics: Science and Systems (2023)
Keyphrases
- stochastic nature
- markov processes
- control system
- robust optimization
- optimal control problems
- control theory
- markov chain
- optimal control
- control problems
- parameter tuning
- linear quadratic
- decision theory
- stochastic model
- robust estimation
- stochastic process
- discrete event
- control method
- dynamic systems
- receding horizon
- linear time invariant