Related papers: Reach-Avoid Differential Games Based on Invariant …
This paper considers a formulation of a differential game with constrained dynamics, where one player selects the dynamics and the other selects the applicable cost. When the game is considered on a finite time horizon, its value satisfies…
Digital control has become increasingly prevalent in modern systems, making continuous-time plants controlled by discrete-time (digital) controllers ubiquitous and crucial across industries, including aerospace, automotive, and…
Multi-agent differential games are important and useful tools for analyzing many practical problems. With the recent surge of interest in using UAVs for civil purposes, the importance and urgency of developing tractable multi-agent analysis…
This paper studies a 3D multiplayer reach-avoid differential game with a goal region and a play region. Multiple pursuers defend the goal region by consecutively capturing multiple evaders in the play region. The players have heterogeneous…
In this paper we consider an infinite horizon zero-sum differential game where the dynamics of each player and the running cost are also depending on the evolution of some discrete (switching) variables. In particular, such switching…
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…
Objective: In a companion paper, we propose a parametric hybrid automaton model and an algorithm for the online synthesis of robustly correct and near-optimal controllers for cyber-physical system with reach-avoid guarantees. A key part of…
The design of aircraft collision avoidance algorithms is a subtle but important challenge that merits the need for provable safety guarantees. Obtaining such guarantees is nontrivial given the unpredictability of the interplay of the…
The hybrid optimal control problem with reach time to a target set is addressed and the continuity and uniqueness of the associated value function is proved. Hybrid systems involves interaction of different types of dynamics: continuous and…
Pursuit-evasion scenarios appear widely in robotics, security domains, and many other real-world situations. We focus on two-player pursuit-evasion games with concurrent moves, infinite horizon, and discounted rewards. We assume that the…
In this paper, we present a method for finding approximate Nash equilibria in a broad class of reachability games. These games are often used to formulate both collision avoidance and goal satisfaction. Our method is computationally…
Reachability analysis is important for studying optimal control problems and differential games, which are powerful theoretical tools for analyzing and modeling many practical problems in robotics, aircraft control, among other application…
Racing demands each vehicle to drive at its physical limits, when any safety infraction could lead to catastrophic failure. In this work, we study the problem of safe reinforcement learning (RL) for autonomous racing, using the vehicle's…
This work in progress considers reachability-based safety analysis in the domain of autonomous driving in multi-agent systems. We formulate the safety problem for a car following scenario as a differential game and study how different…
A classic reachability problem for safety of dynamic systems is to compute the set of initial states from which the state trajectory is guaranteed to stay inside a given constraint set over a given time horizon. In this paper, we leverage…
This paper investigates necessary and sufficient barrier-like conditions for infinite-horizon safety and reach-avoid verification of stochastic discrete-time systems, derived via a relaxation of the Bellman equations. Unlike prior…
We consider concurrent games played on graphs. At every round of a game, each player simultaneously and independently selects a move; the moves jointly determine the transition to a successor state. Two basic objectives are the safety…
Safety assurance is a critical yet challenging aspect when developing self-driving technologies. Hamilton-Jacobi backward-reachability analysis is a formal verification tool for verifying the safety of dynamic systems in the presence of…
Safety is an important topic in autonomous driving since any collision may cause serious injury to people and damage to property. Hamilton-Jacobi (HJ) Reachability is a formal method that verifies safety in multi-agent interaction and…
In this paper we propose novel optimization-based methods for verifying reach-avoid (or, eventuality) properties of continuous-time systems modelled by ordinary differential equations. Given a system, an initial set, a safe set and a target…