Sensor-Based Distributionally Robust Control for Safe Robot Navigation in Dynamic Environments
We introduce a novel method for mobile robot navigation in dynamic, unknown environments, leveraging onboard sensing and distributionally robust optimization to impose probabilistic safety constraints. Our method introduces a distributionally robust control barrier function (DR-CBF) that directly integrates noisy sensor measurements and state estimates to define safety constraints.
Evidence notes
- Experiments use Jackal UGV as the physical evaluation platform.
- The evaluation connects the reported method to Jackal UGV hardware in navigation and sim_to_real tasks.
Company context
Clearpath Robotics builds unmanned ground vehicles and mobile robot platforms for research, development and field robotics, including Jackal, Husky and related robot bases.