Related papers: SCRAMPPI: Efficient Contingency Planning for Mobil…
Hamilton-Jacobi (HJ) reachability provides formal safety guarantees for dynamical systems, but solving high-dimensional HJ partial differential equations limits its use in real-time planning. This paper presents a contingency-aware…
Autonomous navigation requires planning to reach a goal safely and efficiently in complex and potentially dynamic environments. Graph search-based algorithms are widely adopted due to their generality and theoretical guarantees when…
Real-world autonomous vehicles often operate in a priori unknown environments. Since most of these systems are safety-critical, it is important to ensure they operate safely in the face of environment uncertainty, such as unseen obstacles.…
We present a fast planning architecture called Hamilton-Jacobi-based bidirectional A* (HJBA*) to solve general tight parking scenarios. The algorithm is a two-layer composed of a high-level HJ-based reachability analysis and a lower-level…
For safety, autonomous systems must be able to consider sudden changes and enact contingency plans appropriately. State-of-the-art methods currently find trajectories that balance between nominal and contingency behavior, or plan for a…
Ensuring the safety of autonomous systems under uncertainty is a critical challenge. Hamilton-Jacobi reachability (HJR) analysis is a widely used method for guaranteeing safety under worst-case disturbances. In this work, we propose HJRNO,…
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…
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,…
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…
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…
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. Although this problem has been studied in the past, there has not…
With the recent surge of interest in introducing autonomous vehicles to the everyday lives of people, developing accurate and generalizable algorithms for predicting human behavior becomes highly crucial. Moreover, many of these emerging…
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…
Provably safe and scalable multi-vehicle trajectory planning is an important and urgent problem. Hamilton-Jacobi (HJ) reachability is an ideal tool for analyzing such safety-critical systems and has been successfully applied to several…
Hamilton-Jacobi (HJ) reachability analysis is a powerful tool for analyzing the safety of autonomous systems. However, the provided safety assurances are often predicated on the assumption that once deployed, the system or its environment…
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…
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…
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…
Hamilton-Jacobi (HJ) reachability analysis is an important formal verification method for guaranteeing performance and safety properties of dynamical systems; it has been applied to many small-scale systems in the past decade. Its…
Hamilton-Jacobi (HJ) reachability is a rigorous mathematical framework that enables robots to simultaneously detect unsafe states and generate actions that prevent future failures. While in theory, HJ reachability can synthesize safe…