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Sponsored Artificial Intelligence: A Modern Approach, Global Edition Artificial Intelligence: A Modern Approach, Global Edition

Author

Mien Van

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2 papers indexed here

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Conference Open access Aug 2026

Perception-Aware Control Barrier Function for Safe Navigation Under Uncertain LiDAR Observation

This paper presents a discrete-time Perception-Aware Control Barrier Function (PA-CBF) framework for LiDAR-based robot navigation under uncertainty. The method combines beam-wise barrier constraints with uncertainty-aware range-rate estimation from sequential LiDAR measurements and a predictive finite-horizon extension...

K. Olayemi, Mien Van, Seán F. McLoone et al. · 0 citations
Open access Aug 2026

Terrain‐Adaptive Quadrupedal Locomotion Using Model Predictive Control With Impedance Control and SINDy Model Enhancement

Quadrupedal robots operating in unstructured environments require adaptive control systems that can handle diverse terrain conditions without prior surface characterization. This paper presents an integrated control architecture that combines Model Predictive Control (MPC) with adaptive impedance control and SINDy‐ba...

Peter James McConnellogue, Mien Van, Rhyss McMullan et al. · 0 citations

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