Related papers: A Hamilton-Jacobi Reachability Framework with Soft…
We present the Field of Safe Motion (FSM), a quantitative safety model for determining whether a driver maintains a collision-free escape route, or "out," at any given moment by accounting for that driver's physical capabilities and the…
Intercepting dynamic objects in uncertain environments involves a significant unresolved challenge in modern robotic systems. Current control approaches rely solely on estimated information, and results lack guarantees of robustness and…
In this paper we propose novel optimization-based methods for verifying reach-avoid (or, eventuality) properties of continuous-time systems modelled by ordinary differential equations. Given a system, an initial set, a safe set and a target…
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.…
The deployment of Large Language Models (LLMs) in robotic systems presents unique safety challenges, particularly in unpredictable environments. Although LLMs, leveraging zero-shot learning, enhance human-robot interaction and…
This paper studies the problem of safe control of sampled-data systems under bounded disturbance and measurement errors with piecewise-constant controllers. To achieve this, we first propose the High-Order Doubly Robust Control Barrier…
In this work, we perform safety analysis of linear dynamical systems with uncertainties. Instead of computing a conservative overapproximation of the reachable set, our approach involves computing a statistical approximate reachable set. As…
Designing controllers that are both safe and performant is inherently challenging. This co-optimization can be formulated as a constrained optimal control problem, where the cost function represents the performance criterion and safety is…
Control Barrier Functions (CBFs) can provide provable safety guarantees for dynamic systems. However, finding a valid CBF for a system of interest is often non-trivial, especially for systems having low computational resources, higher-order…
A constant-rate multi-mode system is a hybrid system that can switch freely among a finite set of modes, and whose dynamics is specified by a finite number of real-valued variables with mode-dependent constant rates. Alur, Wojtczak, and…
When a system's constraints change abruptly, the system's reachability safety does no longer sustain. Thus, the system can reach a forbidden/dangerous value. Conventional remedy practically involves online controller redesign (OCR) to…
Recent learning-based safety filters have outperformed conventional methods, such as hand-crafted Control Barrier Functions (CBFs), by effectively adapting to complex constraints. However, these learning-based approaches lack formal safety…
Reach-avoid problems involve driving a system to a set of desirable configurations while keeping it away from undesirable ones. Providing mathematical guarantees for such scenarios is challenging but have numerous potential practical…
Autonomous coverage of a specified area by robots operating in close proximity with each other has many potential applications such as real-time monitoring of rapidly changing environments, and search and rescue; however, coordination and…
A shortcoming of existing reachability approaches for nonlinear systems is the poor scalability with the number of continuous state variables. To mitigate this problem we present a simulation-based approach where we first sample a number of…
A runtime assurance system (RTA) for a given plant enables the exercise of an untrusted or experimental controller while assuring safety with a backup (or safety) controller. The relevant computational design problem is to create a logic…
Control invariant sets are crucial for various methods that aim to design safe control policies for systems whose state constraints must be satisfied over an indefinite time horizon. In this article, we explore the connections among…
This study focuses on reachability problems in differential games. An improved level set method for computing reachable tubes is proposed in this paper. The reachable tube is described as a sublevel set of a value function, which is the…
Backward reachability analysis computes the set of states that reach a target set under the competing influence of control input and disturbances. Depending on their interplay, the backward reachable set either represents all states that…
Safety-critical control is a crucial aspect of modern systems, and Control Barrier Functions (CBFs) have gained popularity as the framework of choice for ensuring safety. However, implementing a CBF requires exact knowledge of the true…