Related papers: Geometric Reachability for Attitude Control System…

In this paper, we efficiently compute overapproximating reachable sets for control systems evolving on Lie groups, building off results from monotone systems theory and geometric integration theory. We consider intervals in the tangent…

Inner-approximate reachability analysis involves calculating subsets of reachable sets, known as inner-approximations. This analysis is crucial in the fields of dynamic systems analysis and control theory as it provides a reliable…

Real-world autonomous systems often employ probabilistic predictive models of human behavior during planning to reason about their future motion. Since accurately modeling human behavior a priori is challenging, such models are often…

In many human-in-the-loop robotic applications such as robot-assisted surgery and remote teleoperation, predicting the intended motion of the human operator may be useful for successful implementation of shared control, guidance virtual…

Reachability analysis is important for studying optimal control problems and differential games, which are powerful theoretical tools for analyzing and modeling many practical problems in robotics, aircraft control, among other application…

We develop a new Riemannian descent algorithm that relies on momentum to improve over existing first-order methods for geodesically convex optimization. In contrast, accelerated convergence rates proved in prior work have only been shown to…

This letter proposes a novel sampled-data model predictive control framework for continuous control-affine nonlinear systems that provides rigorous reach-avoid and recursive feasibility guarantees under physical constraints. By propagating…

We examine Lagrangian techniques for computing underapproximations of finite-time horizon, stochastic reach-avoid level-sets for discrete-time, nonlinear systems. We use the concept of reachability of a target tube in the control literature…

A key challenge in contact-rich dexterous manipulation is the need to jointly reason over geometry, kinematic constraints, and intricate, nonsmooth contact dynamics. End-to-end visuomotor policies bypass this structure, but often require…

There has been an increasing interest in using neural networks in closed-loop control systems to improve performance and reduce computational costs for on-line implementation. However, providing safety and stability guarantees for these…

There are several attitude estimation algorithms in existence, all of which use local coordinate representations for the group of rigid body orientations. All local coordinate representations of the group of orientations have associated…

This paper proposes a data-driven method for learning convergent control policies from offline data using Contraction theory. Contraction theory enables constructing a policy that makes the closed-loop system trajectories inherently…

Motivated by questions of manifold learning, we study a sequence of random manifolds, generated by embedding a fixed, compact manifold $M$ into Euclidean spheres of increasing dimension via a sequence of Gaussian mappings. One of the…

This study presents a method for constructing a sequence of approximate solutions of increasing accuracy to general equilibrium models on nonlocal domains. The method is based on a technique originated from dynamical systems theory. The…

Over-approximating the forward reach sets of controlled dynamical systems subject to set-valued uncertainties is a common practice in systems-control engineering for the purpose of performance verification. However, specific algebraic and…

This work proposes an algorithm to bound the minimum distance between points on trajectories of a dynamical system and points on an unsafe set. Prior work on certifying safety of trajectories includes barrier and density methods, which do…

Efficiently handling time-triggered and possibly nondeterministic switches for hybrid systems reachability is a challenging task. In this paper we present an approach based on conservative set-based enclosure of the dynamics that can handle…

This paper reviews the attitude control problems for rigid-body systems, starting from the attitude representation for rigid body kinematics. Highly redundant rotation matrix defines the attitude orientation globally and uniquely by 9…

Hamilton Jacobi (HJ) Reachability is a formal verification tool widely used in robotic safety analysis. Given a target set as unsafe states, a dynamical system is guaranteed not to enter the target under the worst-case disturbance if it…

We propose an approach to compute inner and outer-approximations of the sets of values satisfying constraints expressed as arbitrarily quantified formulas. Such formulas arise for instance when specifying important problems in control such…