Change: We will modify the reward for touching the ball and the existential reward/penalty to increase as the game progresses. This makes the agent more aggressive and strategic later in the episode.

Abstract: The growing use of collaborative robots (cobots) in industrial environments raises concerns about worker safety; flexible and adaptive systems are required to predict and prevent real-time ...

Abstract: This paper presents a model predictive control (MPC) with recursive feasibility guarantees for robots with LiDAR sensory measurements. Control barrier functions (CBF) are incorporated within ...