DRP-L1AC uses L1-adaptive control's online Wasserstein bounds to certify ambiguity sets inside a distributionally robust MPC planner, delivering certifiable safety for systems facing simultaneous model and environmental uncertainties.
Robust feedback motion planning via contraction theory,
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Distributionally Robust Planning with $\mathcal{L}_1$ Adaptive Control
DRP-L1AC uses L1-adaptive control's online Wasserstein bounds to certify ambiguity sets inside a distributionally robust MPC planner, delivering certifiable safety for systems facing simultaneous model and environmental uncertainties.