Assuring Safe Operation of Robotic Systems under Uncertainty

Assuring Safe Operation of Robotic Systems under Uncertainty

Control and Learning Methods

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Erscheint vorauss. 28. November 2025
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This book applies set-theoretic and reinforcement learning approaches to formulate, analyze, and solve the challenge of ensuring safe operation of robotic systems in an uncertain environment. The authors adopt learning-supported set-theoretic methods - specifically, the barrier Lyapunov function and the control barrier function - to achieve desirable robust safety with guaranteed performance in continuous-time nonlinear control applications. They also combine reinforcement learning with control theory to ensure safe learning and optimization. The reinforcement learning-based optimization frame...