Author

Bin Hu

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Preprint Oct 2026

Adaptive Risk-Certified Event-Triggered Replanning for Dynamic Navigation

Safe navigation in dynamic environments requires robots to plan under obstacle predictions whose errors are uncertain, non-stationary, and can induce rare but safety-critical failures. Existing control-barrier-function safety filters can reject immediately unsafe controls, but they provide little guidance on when the c...

Richie R. Suganda, Bin Hu · 0 citations

Jul 2026

Neural-ESO: A Dual-Pathway Architecture for Provably Robust Learning-Based Control

It is shown that enforcing a Lipschitz bound on the learning component guarantees uniform ultimate boundedness of the closed-loop error dynamics, demonstrating accuracy-robustness trade-off and greater operational reliability during training, deployment, and transfer compared with state-of-the-art baselines.

Fan Zhang, Richie R. Suganda, Jin-Feng Chen et al. · IEEE Robotics and Automation... · 1 citation