The authors introduce affine repulsive RL policies that provably satisfy hard affine state constraints for black-box hybrid dynamical systems with affine reset maps by deriving sufficient closed-loop safety conditions and testing on pendulum and juggler examples.
Discrete control barrier functions for safety-critical control of discrete systems with application to bipedal robot navigation,
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A fault-tolerant control method for 2D isoperimetric truss robots that preserves rigidity and over 69% workspace under single-motor failures via extended kinematic optimization and discrete-time control barrier functions, validated in simulation and hardware.
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Learning Control Policies to Provably Satisfy Hard Affine Constraints for Black-Box Hybrid Dynamical Systems
The authors introduce affine repulsive RL policies that provably satisfy hard affine state constraints for black-box hybrid dynamical systems with affine reset maps by deriving sufficient closed-loop safety conditions and testing on pendulum and juggler examples.
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Fault-Tolerant, Rigidity-Preserving Control of Inflatable Truss Robots
A fault-tolerant control method for 2D isoperimetric truss robots that preserves rigidity and over 69% workspace under single-motor failures via extended kinematic optimization and discrete-time control barrier functions, validated in simulation and hardware.