Related papers: Safe Coverage of Compact Domains For Second Order …
Autonomous coverage of a specified area by robots operating in close proximity with each other has many potential applications such as real-time monitoring of rapidly changing environments, and search and rescue; however, coordination and…
With the recent surge of interest in UAVs for civilian services, the importance of developing tractable multi-agent analysis techniques that provide safety and performance guarantees have drastically increased. Hamilton-Jacobi (HJ)…
Recently there have been a lot of interests in introducing UAVs for a wide range of applications, making ensuring safety of multi-vehicle systems a highly crucial problem. Hamilton-Jacobi (HJ) reachability is a promising tool for analyzing…
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…
Provably safe and scalable multi-vehicle path planning is an important and urgent problem due to the expected increase of automation in civilian airspace in the near future. Although this problem has been studied in the past, there has not…
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…
Recently, there has been immense interest in using unmanned aerial vehicles (UAVs) for civilian operations. As a result, unmanned aerial systems traffic management is needed to ensure the safety and goal satisfaction of potentially…
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…
Within a robot autonomy stack, the planner and controller are typically designed separately, and serve different purposes. As such, there is often a diffusion of responsibilities when it comes to ensuring safety for the robot. We propose…
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…
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…
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…
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…
The paper presents a robust control technique that combines the Control Lyapunov function and Hamilton-Jacobi Reachability to compute a controller and its Region of Attraction (ROA). The Control Lyapunov function uses a linear system model…
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…
As safety-critical autonomous vehicles (AVs) will soon become pervasive in our society, a number of safety concepts for trusted AV deployment have recently been proposed throughout industry and academia. Yet, achieving consensus on an…
This work proposes a framework for Cooperative Adaptive Cruise Control of a vehicular platoon characterized by unidirectional communication and heterogeneous parameters. In the proposed framework, the actual (heterogeneous) platoon is made…
Provably safe and scalable multi-vehicle path planning is an important and urgent problem due to the expected increase of automation in civilian airspace in the near future. Hamilton-Jacobi (HJ) reachability is an ideal tool for analyzing…
We study a novel principle for safe and efficient collision avoidance that adopts a mathematically elegant and general framework abstracting as much as possible from the controlled vehicle's dynamics and of its environment. Vehicle dynamics…
Collaborative autonomous multi-agent systems covering a specified area have many potential applications, such as UAV search and rescue, forest fire fighting, and real-time high-resolution monitoring. Traditional approaches for such coverage…