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There is now a CONTENT FREEZE for Mercury while we switch to a new platform. It began on Friday, March 10 at 6pm and will end on Wednesday, March 15 at noon. No new content can be created during this time, but all material in the system as of the beginning of the freeze will be migrated to the new platform, including users and groups. Functionally the new site is identical to the old one. webteam@gatech.edu
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Title: Bayesian Model-based Safe Learning and Control for Robots
Committee:
Dr. Chatterjee, Advisor
Dr. Mukhopadhyay, Chair
Dr. Egerstedt
Abstract: The objective of this research is to investigate safe learning-based control for safety-critical robots while considering unmodeled system dynamics. Uncertainty in system dynamics can arise due to external disturbances or internal system failures. Uncertainty modeling is done with the help of posterior surrogates from Gaussian Processes (GPs). The safety framework leverages properties of Control Barrier Functions (CBFs) to ensure forward invariance of the system inside a safe set.
