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This work presents a probabilistic, proactive, motion planning framework that explicitly accounts for actuator failures in space, model actuator failure modes as a Markov chain and propagate the probability of successfully reaching the goal along the planning horizon.
Robots can now navigate safely in unpredictable environments by effectively managing multi-object uncertainties with a novel risk-aware control framework.
Achieve real-time safety-critical robot control in partially observable environments by decoupling goal reaching, information gathering, and safety into modular, certificate-based components operating directly in belief space.
A new modular underwater research facility, the Marinarium, offers a resource-efficient way to conduct realistic maritime and space-analog robotic experiments, bridging the gap between simulation and real-world conditions.
