Survey on safe robot control via learning

Modern society heavily relies on robotic systems, their use affects the aerospace, automotive, energy, disaster response, health care, manufacturing, and traffic management industries among countless others. From making robots walk Westervelt et al. [2007] to getting molecular swarms to kill cancer cells Wijewardhane et al. [2022], whole fields of research dedicate themselves to the problem of control. Intelligently selecting control strategies so that we can manage, direct, or command the trajectories a system can take distills the essence of problems faced in control. When a system can be controlled in the aforementioned manner using control loops, the system in question is termed a control system. Tackling the problem of control, the research community has produced many alternative solutions with varying trade-offs concerning what is achievable and how much we can represent these systems and our goals.