Related papers: Robust Sequential Path Planning Under Disturbances…
With the recent surge of interest in using robotics and automation for civil purposes, providing safety and performance guarantees has become extremely important. In the past, differential games have been successfully used for the analysis…
Hybrid dynamical systems with nonlinear dynamics are one of the most general modeling tools for representing robotic systems, especially contact-rich systems. However, providing guarantees regarding the safety or performance of nonlinear…
Recently, there has been immense interest in using unmanned aerial vehicles (UAVs) for civilian operations such as package delivery, firefighting, and fast disaster response. As a result, UAV traffic management systems are needed to support…
Hamilton-Jacobi (HJ) reachability analysis has been developed over the past decades into a widely-applicable tool for determining goal satisfaction and safety verification in nonlinear systems. While HJ reachability can be formulated very…
Road safety continues to be a pressing global issue, with vehicle collisions imposing significant human, societal, and economic burdens. Human-machine shared collision avoidance in critical collision scenarios aims to aid drivers' accident…
Autonomous navigation requires planning to reach a goal safely and efficiently in complex and potentially dynamic environments. Graph search-based algorithms are widely adopted due to their generality and theoretical guarantees when…
Recent literature has proposed approaches that learn control policies with high performance while maintaining safety guarantees. Synthesizing Hamilton-Jacobi (HJ) reachable sets has become an effective tool for verifying safety and…
Hamilton-Jacobi (HJ) reachability analysis is a widely used method for ensuring the safety of robotic systems. Traditional approaches compute reachable sets by numerically solving an HJ Partial Differential Equation (PDE) over a grid, which…
Autonomous systems like aircraft and assistive robots often operate in scenarios where guaranteeing safety is critical. Methods like Hamilton-Jacobi reachability can provide guaranteed safe sets and controllers for such systems. However,…
Hamilton-Jacobi reachability analysis is a powerful technique used to verify the safety of autonomous systems. This method is very good at handling non-linear system dynamics with disturbances and flexible set representations. A drawback to…
This article presents a Hamilton--Jacobi (HJ) reachability framework for a two--satellite collision avoidance problem operating in the same circular orbit, where relative motion is modeled in the radial--tangential--normal (RTN) frame using…
We consider the problem of time-optimal path planning for simple nonholonomic vehicles. In previous similar work, the vehicle has been simplified to a point mass and the obstacles have been stationary. Our formulation accounts for a…
The Hopf formula for Hamilton-Jacobi reachability (HJR) analysis has been proposed to solve high-dimensional differential games, producing the set of initial states and corresponding controller required to reach (or avoid) a target despite…
Autonomous systems operating in close proximity with each other to cover a specified area has many potential applications, but to achieve effective coordination, two key challenges need to be addressed: coordination and safety. For…
Autonomous ground vehicles (AGVs) must navigate safely in cluttered environments while accounting for complex dynamics and environmental uncertainty. Hamilton-Jacobi Reachability (HJR) offers formal safety guarantees through the computation…
Traditional reachability methods provide formal guarantees of safety under bounded disturbances. However, they strictly enforce state constraints as inviolable, which can result in overly conservative or infeasible solutions in complex…
Ensuring the safety of autonomous systems under uncertainty is a critical challenge. Hamilton-Jacobi reachability (HJR) analysis is a widely used method for guaranteeing safety under worst-case disturbances. In this work, we propose HJRNO,…
Real-world autonomous vehicles often operate in a priori unknown environments. Since most of these systems are safety-critical, it is important to ensure they operate safely in the face of environment uncertainty, such as unseen obstacles.…
Hamilton-Jacobi reachability (HJR) is an exciting framework used for control of safety-critical systems with nonlinear and possibly uncertain dynamics. However, HJR suffers from the curse of dimensionality, with computation times growing…
Hamilton-Jacobi reachability (HJR) provides a value function that encodes the set of states from which a system with bounded control inputs can reach or avoid a target despite any bounded disturbance, and the corresponding robust, optimal…