Related papers: Multi-Vehicle Collision Avoidance via Hamilton-Jac…
Coordinated control of connected and automated vehicles (CAVs) emerges as a promising technology to improve traffic safety, efficiency, and sustainability. Meanwhile, mixed traffic, where CAVs coexist with conventional human-driven vehicles…
One of the most important problems in hybrid systems is the {\em reachability problem}. The reachability problem has been shown to be undecidable even for a subclass of {\em linear} hybrid systems. In view of this, the main focus in the…
This paper introduces a novel methodology that leverages the Hamilton-Jacobi solution to enhance non-linear model predictive control (MPC) in scenarios affected by navigational uncertainty. Using Hamilton-Jacobi-Theoretic approach, a…
An open question in autonomous driving is how best to use simulation to validate the safety of autonomous vehicles. Existing techniques rely on simulated rollouts, which can be inefficient for finding rare failure events, while other…
We present a hierarchical control approach for maneuvering an autonomous vehicle (AV) in tightly-constrained environments where other moving AVs and/or human driven vehicles are present. A two-level hierarchy is proposed: a high-level…
The optimal visiting problem is the optimization of a trajectory that has to touch or pass as close as possible to a collection of target points. The problem does not verify the dynamic programming principle, and it needs a specific…
This paper addresses the motion planning problem for a team of aerial agents under high level goals. We propose a hybrid control strategy that guarantees the accomplishment of each agent's local goal specification, which is given as a…
The development of connected and autonomous vehicles (CAVs) offers substantial opportunities to enhance traffic efficiency. However, in mixed autonomy environments where CAVs coexist with human-driven vehicles (HDVs), achieving efficient…
This paper presents an optimisation-based approach for an obstacle avoidance problem within an autonomous vehicle racing context. Our control regime leverages online reachability analysis and sensor data to compute the maximal safe…
In this article, we consider the infinite-horizon reach-avoid (RA) and stabilize-avoid (SA) zero-sum game problems for general nonlinear continuous-time systems, where the goal is to find the set of states that can be controlled to reach or…
We propose a neural network approach for solving high-dimensional optimal control problems. In particular, we focus on multi-agent control problems with obstacle and collision avoidance. These problems immediately become high-dimensional,…
This paper presents a hybrid safety-critical coordination architecture for multi-agent systems operating in dense environments. While control barrier functions (CBFs) provide formal safety guarantees, decentralized implementations typically…
We provide a tutorial introduction to reachability computation, a class of computational techniques that exports verification technology toward continuous and hybrid systems. For open under-determined systems, this technique can sometimes…
High-density, unsignalized intersection has always been a bottleneck of efficiency and safety. The emergence of Connected Autonomous Vehicles (CAVs) results in a mixed traffic condition, further increasing the complexity of the…
We present Multi-Agent gatekeeper, a framework that provides provable safety guarantees for leader-follower formation control in cluttered 3D environments. Existing methods face a trad-off: online planners and controllers lack formal safety…
Existing decentralized methods for multi-agent motion planning lack formal, infinite-horizon safety guarantees, especially for communication-constrained systems. We present R3R which, to our knowledge, is the first decentralized and…
We propose a hybrid decision-making framework for safe and efficient autonomous driving of selfish vehicles on highways. Specifically, we model the dynamics of each vehicle as a Mixed-Logical-Dynamical system and propose simple driving…
This paper studies safe driving interactions between Human-Driven Vehicles (HDVs) and Connected and Automated Vehicles (CAVs) in mixed traffic where the dynamics and control policies of HDVs are unknown and hard to predict. In order to…
Reachability analysis aims at identifying states reachable by a system within a given time horizon. This task is known to be computationally expensive for linear hybrid systems. Reachability analysis works by iteratively applying continuous…
We would like to enable a collaborative multiagent team to navigate at long length scales and under uncertainty in real-world environments. In practice, planning complexity scales with the number of agents in the team, with the length scale…