Related papers: Prediction-Based Reachability for Collision Avoida…
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…
Despite large advances in recent years, real-time capable motion planning for autonomous road vehicles remains a huge challenge. In this work, we present a decision module that is based on set-based reachability analysis: First, we identify…
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…
Path planning for autonomous vehicles in arbitrary environments requires a guarantee of safety, but this can be impractical to ensure in real-time when the vehicle is described with a high-fidelity model. To address this problem, this paper…
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…
Verifying the correct behavior of robots in contact tasks is challenging due to model uncertainties associated with contacts. Standard methods for testing often fall short since all (uncountable many) solutions cannot be obtained. Instead,…
Trajectory planning is challenging for autonomous cars since they operate in unpredictable environments with limited sensor horizons. To incorporate new information as it is sensed, planning is done in a loop, with the next plan being…
Autonomous Vehicle decisions rely on multimodal prediction models that account for multiple route options and the inherent uncertainty in human behavior. However, models can suffer from mode collapse, where only the most likely mode is…
A fundamental concern in progressing Airborne Wind Energy (AWE) operations towards commercial success, is guaranteeing that safety requirements placed on the systems are met. Due to the high dimensional complexity of AWE systems, however,…
When autonomous vehicles encounter untrained scenarios, ensuring safety hinges on effective safety verification to prevent accidents stemming from unexpected model decisions. Reachability analysis, a method of safety verification, offers…
We present a numeric method to compute the safe operating flight conditions for a helicopter such that we can ensure a safe landing in the event of a partial or total engine failure. The unsafe operating region is the complement of the…
In continuous-time optimal control, evaluating the Hamiltonian requires solving a constrained optimization problem using the system's dynamics model. Hamilton-Jacobi reachability analysis for safety verification has demonstrated practical…
The driving risk field is applicable to more complex driving scenarios, providing new approaches for safety decision-making and active vehicle control in intricate environments. However, existing research often overlooks the driving risk…
Mobile manipulators require coordinated control between navigation and manipulation to accomplish tasks. Typically, coordinated mobile manipulation behaviors have base navigation to approach the goal followed by arm manipulation to reach…
Contact-rich robotic systems, such as legged robots and manipulators, are often represented as hybrid systems. However, the stability analysis and region-of-attraction computation for these systems are often challenging because of the…
Hamilton-Jacobi (HJ) reachability analysis is a fundamental tool for the safety verification and control synthesis of nonlinear control systems. Classical HJ reachability analysis methods compute value functions over grids which discretize…
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…
Deploying autonomous systems in safety critical settings necessitates methods to verify their safety properties. This is challenging because real-world systems may be subject to disturbances that affect their performance, but are unknown a…
We consider the problem of computing safety regions, modeled as nonconvex backward reachable sets, for a nonlinear car collision avoidance model with time-dependent obstacles. The Hamilton-Jacobi-Bellman framework is used. A new formulation…
Motivated by earlier work and the developer of a new algorithm, the FollowerStopper, this article uses reachability analysis to verify the safety of the FollowerStopper algorithm, which is a controller designed for dampening stop- and-go…