Robust and Safe Autonomous Navigation for Systems With Learned SE(3) Hamiltonian Dynamics

  title={Robust and Safe Autonomous Navigation for Systems With Learned SE(3) Hamiltonian Dynamics},
  author={Zhichao Li and Thai Duong and Nikolay A. Atanasov},
  journal={IEEE Open Journal of Control Systems},
Stability and safety are critical properties for successful deployment of automatic control systems. As a motivating example, consider autonomous mobile robot navigation in a complex environment. A control design that generalizes to different operational conditions requires a model of the system dynamics, robustness to modeling errors, and satisfaction of safety constraints, such as collision avoidance. This paper develops a neural ordinary differential equation network to learn the dynamics of… 

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