aiqbench analysis
This research advances robotic autonomy by addressing motion planning under partial observability and uncertain system dynamics, specifically quantifying risks when sensors fail in specific state regions. By formulating high-level navigation as a stochastic shortest path problem, the method balances route efficiency with safety margins against unintended state transitions. The work represents a significant step toward robust control systems capable of operating reliably in environments with intermittent sensing capabilities.
Risk-Aware Motion Planning and Control under Unknown Dynamics with Hybrid Observations
arXiv:2609.23792v1 Announce Type: new Abstract: We consider robotic motion planning and control under unknown dynamics with hybrid state observations, where state measurements are available only in parts of the state space. Existing work combines system identification, predicted reachability, graph search and controller synthesis in a hierarchical framework using local affine approximated models over polytopic state space partitioning, but requires state observations for identification and feedback control. Based on this framework, we address blind regions by selecting nominal dynamics and precomputing open-loop control sequences before observation is lost. Since the true dynamics may differ from the selected nominal model, the robot may exit a blind polytope through an unintended facet. We quantify this transition risk and incorporate the possible outcomes into a stochastic transition system. The high-level planning problem is formulated as a stochastic shortest path problem, whose policy guides controller synthesis. A case study demonstrates that the method guides the robot from an initial state to a target while balancing route efficiency and the risks associated with traversing blind regions.
Abstract:We consider robotic motion planning and control under unknown dynamics with hybrid state observations, where state measurements are available only in parts of the state space. Existing work combines system identification, predicted reachability, graph search and controller synthesis in a hierarchical framework using local affine approximated models over polytopic state space partitioning, but requires state observations for identification and feedback control. Based on this framework, we address blind regions by selecting nominal dynamics and precomputing open-loop control sequences before observation is lost. Since the true dynamics may differ from the selected nominal model, the robot may exit a blind polytope through an unintended facet. We quantify this transition risk and incorporate the possible outcomes into a stochastic transition system. The high-level planning problem is formulated as a stochastic shortest path problem, whose policy guides controller synthesis. A case study demonstrates that the method guides the robot from an initial state to a target while balancing route efficiency and the risks associated with traversing blind regions.
Robotics (cs.RO); Systems and Control (eess.SY)
arXiv:2609.23792 [cs.RO]
(or arXiv:2609.23792v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2609.23792 Focus to learn more arXiv-issued DOI via DataCite (pending registration)
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