apt-file is a useful tool in finding missing libraries. It fetch the filelist
of all packages available in the repository and makes a searchable database from
filename to apt package name.
Solving missing library error using apt-file
Probabilistic Safety Constraints
How do you ensure safety when the robot behavior is only known with uncertainty? We propose Probabilistic Safety Constraints for High Relative Degree System Dynamics. We show how to learn a system with a Bayesian Learning method that keeps track of uncertainty while ensuring safety upto an acceptable risk factor, for example, 99.999%. We use the framework of Control Barrier Functions and extend it to higher-order relative degree systems while propagating uncertainty in model dynamics to the safety constraints.
Named-tree programming style
Named-tree programming is a natural Pythonic functional programming paradigm. It encourages thinking of functions and classes as sub-trees in a bigger tree.