Related papers: Safety-Aware Hybrid Control of Airborne Wind Energ…
Airborne wind energy (AWE) systems are tethered flying devices that harvest wind resources at higher altitudes which are not accessible to conventional wind turbines. In order to become a viable alternative to other renewable energy…
Hamilton-Jacobi (HJ) reachability-based filtering provides a powerful framework to co-optimize performance and safety (or liveness) for autonomous systems. Under this filtering scheme, a nominal controller is minimally modified to ensure…
Safety assurance is a fundamental requirement for deploying learning-enabled autonomous systems. Hamilton-Jacobi (HJ) reachability analysis is a fundamental method for formally verifying safety and generating safe controllers. However,…
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…
Real-time altitude control of airborne wind energy (AWE) systems can improve performance by allowing turbines to track favorable wind speeds across a range of operating altitudes. The current work explores the performance implications of…
The control design of an airborne wind energy system with rigid aircraft, vertical take-off and landing, and pumping operation is described. A hierarchical control structure is implemented, in order to address all operational phases:…
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…
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…
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…
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…
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,…
As perception-based controllers for autonomous systems become increasingly popular in the real world, it is important that we can formally verify their safety and performance despite perceptual uncertainty. Unfortunately, the verification…
Recent literature has proposed approaches that learn control policies with high performance while maintaining safety guarantees. Synthesizing Hamilton-Jacobi (HJ) reachable sets has become an effective tool for verifying safety and…
Airborne Wind Energy Systems (AWES) have emerged as a promising renewable energy technology that exploits stronger, more consistent high-altitude winds via tethered airborne devices. Among the various concepts, crosswind systems, where…
Hybrid wind-wave energy system, integrating floating offshore wind turbine and wave energy converters, has received much attention in recent years due to its potential benefit in increasing the power harvest density and reducing the…
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…
Airborne Wind Energy (AWE) refers to a novel technology capable of harvesting energy from wind by flying crosswind patterns with tethered autonomous aircraft. Successful design of flight controllers for AWE systems rely on the availability…
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…
This paper investigates the problem of maintaining the safe operation of Waste-to-Energy (WtE) systems under operational constraints and uncertain waste inflows. We model this as a robust viability problem, formulated as a zero-sum…
In this work, we establish an optimal control framework for airborne wind energy systems (AWESs) with flexible tethers. The AWES configuration, consisting of a six-degree-of-freedom aircraft, a flexible tether, and a winch, is formulated as…