NCM: How can robotic explorers under uncertainty take optimal and provably-stable actions in real-time?

Neural Contraction Metrics (NCMs) for Robust Estimation and Control We have developed new deep learning-based framework for robust nonlinear estimation and control using the concept of an NCM. NCM-based State Estimation and Control It globally models optimal contraction metrics sampled offline using an LSTM-RNN as depicted in (2) of the …