FORMULA integrates MPC with CLFs and neural network CBFs for distributed safe formation control in multi-robot systems.
Safe control with learned certificates: A survey of neural lyapunov, barrier, and contraction methods for robotics and control,
2 Pith papers cite this work. Polarity classification is still indexing.
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Pith papers citing it
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cs.RO 2years
2026 2verdicts
UNVERDICTED 2representative citing papers
A modular belief-space controller using learned Belief Control Lyapunov Functions for information gathering and conformal-prediction Belief Control Barrier Functions for safety reduces reach-avoid POMDP synthesis to fast quadratic programs.
citing papers explorer
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FORMULA: FORmation MPC with neUral barrier Learning for safety Assurance
FORMULA integrates MPC with CLFs and neural network CBFs for distributed safe formation control in multi-robot systems.
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Safety-critical Control Under Partial Observability: Reach-Avoid POMDP meets Belief Space Control
A modular belief-space controller using learned Belief Control Lyapunov Functions for information gathering and conformal-prediction Belief Control Barrier Functions for safety reduces reach-avoid POMDP synthesis to fast quadratic programs.