In this article, we holistically present a hybrid-linear inverted pendulum (H-LIP) based
approach for synthesizing and stabilizing 3-D foot-underactuated bipedal walking, with an …

Robots deployed in unstructured, real-world environments operate under considerable
uncertainty due to imperfect state estimates, model error, and disturbances. Given this real …

This paper considers safe control synthesis for dynamical systems with either probabilistic or
worst-case uncertainty in both the dynamics model and the safety constraints. We formulate …

With the growing interest in deploying robots in unstructured and uncertain environments,
there has been increasing interest in factoring risk into safety-critical control development …

In recent decades, multi-robot region coverage has played an important role in the fields of
environmental sensing, target searching, etc., and it has received widespread attention …

This paper studies the problem of risk-averse receding horizon motion planning for agents
with uncertain dynamics, in the presence of stochastic, dynamic obstacles. We propose a …

This paper focuses on the need for a rigorous theory of layered control architectures (LCAs)
for complex engineered and natural systems, such as power systems, communication …

In this article, we propose a novel safety specification tool, called the distributionally robust
risk map (DR-risk map), for a mobile robot operating in a learning-enabled environment …

The wide availability of data coupled with the computational advances in artificial
intelligence and machine learning promise to enable many future technologies such as …

We provide finite-sample performance guarantees for control policies executed on
stochastic robotic systems. Given an open-or closed-loop policy and a finite set of trajectory …