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Machine learning driven image-based controllers allow robotic systems to take intelligent actions based on the visual feedback from their environment. Understanding when these controllers might lead to system safety violations is important…
Hamilton-Jacobi (HJ) reachability provides formal safety guarantees for nonlinear systems. However, it becomes computationally intractable in high-dimensional settings, motivating learning-based approximations that may introduce unsafe…
We present a fast planning architecture called Hamilton-Jacobi-based bidirectional A* (HJBA*) to solve general tight parking scenarios. The algorithm is a two-layer composed of a high-level HJ-based reachability analysis and a lower-level…
Real world visual navigation requires robots to operate in unfamiliar, human-occupied dynamic environments. Navigation around humans is especially difficult because it requires anticipating their future motion, which can be quite…
Scene understanding plays an important role in several high-level computer vision applications, such as autonomous vehicles, intelligent video surveillance, or robotics. However, too few solutions have been proposed for indoor/outdoor scene…
$ $Visual place recognition is challenging, especially when only a few place exemplars are given. To mitigate the challenge, we consider place recognition method using omnidirectional cameras and propose a novel Omnidirectional…
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…
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…
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…
Hamilton-Jacobi (HJ) reachability analysis provides a formal method for guaranteeing safety in constrained control problems. It synthesizes a value function to represent a long-term safe set called feasible region. Early synthesis methods…
Autonomous driving has been an active area of research and development, with various strategies being explored for decision-making in autonomous vehicles. Rule-based systems, decision trees, Markov decision processes, and Bayesian networks…
Multi-vehicle collision avoidance is a highly crucial problem due to the soaring interests of introducing autonomous vehicles into the real world in recent years. The safety of these vehicles while they complete their objectives is of…
Autonomous spacecraft docking requires control policies that simultaneously ensure collision avoidance and target reachability under coupled, high-dimensional translational-rotational dynamics. Hamilton-Jacobi (HJ) reachability provides…
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…
Hamilton-Jacobi (HJ) reachability analysis is a powerful framework for ensuring safety and performance in autonomous systems. However, existing methods typically rely on a white-box dynamics model of the system, limiting their applicability…
Accurate and robust navigation in unstructured environments requires fusing data from multiple sensors. Such fusion ensures that the robot is better aware of its surroundings, including areas of the environment that are not immediately…
Natural environments such as forests and grasslands are challenging for robotic navigation because of the false perception of rigid obstacles from high grass, twigs, or bushes. In this work, we present Wild Visual Navigation (WVN), an…
Humans can robustly follow a visual trajectory defined by a sequence of images (i.e. a video) regardless of substantial changes in the environment or the presence of obstacles. We aim at endowing similar visual navigation capabilities to…
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 (HJ) reachability analysis is a widely adopted verification tool to provide safety and performance guarantees for autonomous systems. However, it involves solving a partial differential equation (PDE) to compute a safety…