Related papers: Reachability as a Unifying Framework for Computing…
We present a runtime efficient algorithm for autonomous helicopter landings on moving ship decks based on Shrinking-Horizon Model Predictive Control (SHMPC). First, a suitable planning model capturing the relevant aspects of the full…
Safe multi-agent motion planning (MAMP) under task-induced constraints is a critical challenge in robotics. Many real-world scenarios require robots to navigate dynamic environments while adhering to manifold constraints imposed by tasks.…
This paper investigates the application of reachability analysis to the re-entry problem faced by vehicles entering Earth's atmosphere. The study delves into the time evolution of reachable sets for the system, particularly when subject to…
With the continuous advancement in autonomous systems, it becomes crucial to provide robust safety guarantees for safety-critical systems. Hamilton-Jacobi Reachability Analysis is a formal verification method that guarantees performance and…
Control Barrier Functions (CBFs) are a powerful tool for ensuring robotic safety, but designing or learning valid CBFs for complex systems is a significant challenge. While Hamilton-Jacobi Reachability provides a formal method for…
We consider the problem of planning trajectories for a group of $N$ vehicles, each aiming to reach its own target set while avoiding danger zones of other vehicles. The analysis of problems like this is extremely important practically,…
We design fast numerical methods for Hamilton-Jacobi equations in density space (HJD), which arises in optimal transport and mean field games. We overcome the curse-of-infinite-dimensionality nature of HJD by proposing a generalized Hopf…
To verify the correct operation of systems, engineers need to determine the set of configurations of a dynamical model that are able to safely reach a specified configuration under a control law. Unfortunately, constructing models for…
Safety is a central requirement for autonomous system operation across domains. Hamilton-Jacobi (HJ) reachability analysis can be used to construct "least-restrictive" safety filters that result in infrequent, but often extreme, control…
Reach-avoid specifications are one of the most common tasks in autonomous aerial vehicle (UAV) applications. Despite the intensive research and development associated with control of aerial vehicles, generating feasible trajectories though…
The unmanned aerial vehicles (UAVs) in a disaster-prone environment plays important role in assisting the rescue services and providing the internet connectivity with the outside world. However, in such a complex environment the selection…
Control applications for cyber-physical systems must make reliably safe control decisions in the presence of continuous dynamics as well as stochastic uncertainty. Providing safety guarantees for such systems requires formal modeling and…
This paper investigates the localization problem of high-speed high-altitude unmanned aerial vehicle (UAV) with a monocular camera and inertial navigation system. It proposes a navigation method utilizing the complementarity of vision and…
The safety region of operation of a system is the subset of allowed outputs for which no undesirable outcome would occur. Knowing if a system would ever leave its safety regions of operation is important information for the planning and…
Flexibility provision from active distribution grids requires efficient and robust methods of optimization and control suitable to online operation. In this paper we introduce conditions for the safe operation of feedback optimization based…
Simulation-based verification algorithms can provide formal safety guarantees for nonlinear and hybrid systems. The previous algorithms rely on user provided model annotations called discrepancy function, which are crucial for computing…
Autonomous landing in cluttered or unstructured environments remains a safety-critical challenge for unmanned aerial vehicles (UAVs), particularly under noisy perception caused by sensor uncertainty and platform-induced disturbances such as…
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…
Hybrid systems - more precisely, their mathematical models - can exhibit behaviors, like Zeno behaviors, that are absent in purely discrete or purely continuous systems. First, we observe that, in this context, the usual definition of…
This paper deals with junction conditions for Hamilton-Jacobi-Bellman (HJB) equations for finite horizon control problems on multi-domains. We consider two different cases where the final cost is continuous or lower semi-continuous. In the…