Siddhanth Ramesh

HJ-SafeDMP: Hamilton-Jacobi Reachability-Guided Dynamic Movement Primitives for Provably Safe Robot Motion

Siddhanth Ramesh, Ravi Prakash

Robots deployed in safety-critical environments must execute motions that are simultaneously robust to disturbances and provably safe from collisions. Dynamic Movement Primitives (DMPs) offer inherent stability, temporal flexibility, and efficient trajectory generalization from s…Read more