An SOS-certified adaptive Bug2 planner using second-order IK approximation and the S-procedure achieves zero joint-limit violations and 100% goal success across 94 adversarial test scenarios.
Funnel libraries for real-time robust feedback motion planning
2 Pith papers cite this work. Polarity classification is still indexing.
2
Pith papers citing it
citation-role summary
background 1
citation-polarity summary
years
2026 2roles
background 1polarities
background 1representative citing papers
An importance sampling framework with a derived empirical Bernstein inequality for weighted variables provides finite-sample guarantees for statistically certifying viable initial sets in control systems.
citing papers explorer
-
Verified Task-Space Motion Planning Under Joint-Space Constraints
An SOS-certified adaptive Bug2 planner using second-order IK approximation and the S-procedure achieves zero joint-limit violations and 100% goal success across 94 adversarial test scenarios.
-
Importance Sampling for Statistical Certification of Viable Initial Sets
An importance sampling framework with a derived empirical Bernstein inequality for weighted variables provides finite-sample guarantees for statistically certifying viable initial sets in control systems.