Open access
Aug 2026
Trusted Polytopic Action Sets for Fast Planning in Underactuated Systems
A dynamics-violation metric is introduced and a trusted convex inner approximation is extracted using an IRIS-inspired inflation procedure directly in action space, resulting in reusable convex families of actions that can be queried and composed with linear programs.
A. Jaitly, Siavash Farzan
· IEEE Control Systems Letters · 0 citations