Abstract: Before deploying autonomous systems in safety-critical applications, we must be able to understand and verify the safety of these systems. For cases where the risk or cost of real-world ...

This research advances hybrid soft-rigid robot simulations, achieving up to 1000 times faster computations through analytical derivatives in the GVS framework.

Abstract: This article focuses on optimal control problem for a class of discrete-time nonlinear systems. In practical applications, computation time is a crucial consideration when solving optimal ...