相关论文: Safe Coverage of Moving Domains for Vehicles with …

Autonomous systems operating in close proximity with each other to cover a specified area has many potential applications, but to achieve effective coordination, two key challenges need to be addressed: coordination and safety. For…

With the recent surge of interest in UAVs for civilian services, the importance of developing tractable multi-agent analysis techniques that provide safety and performance guarantees have drastically increased. Hamilton-Jacobi (HJ)…

Road safety continues to be a pressing global issue, with vehicle collisions imposing significant human, societal, and economic burdens. Human-machine shared collision avoidance in critical collision scenarios aims to aid drivers' accident…

This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control…

Multi-agent differential games are important and useful tools for analyzing many practical problems. With the recent surge of interest in using UAVs for civil purposes, the importance and urgency of developing tractable multi-agent analysis…

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…

This article presents a Hamilton--Jacobi (HJ) reachability framework for a two--satellite collision avoidance problem operating in the same circular orbit, where relative motion is modeled in the radial--tangential--normal (RTN) frame using…

Recently there have been a lot of interests in introducing UAVs for a wide range of applications, making ensuring safety of multi-vehicle systems a highly crucial problem. Hamilton-Jacobi (HJ) reachability is a promising tool for analyzing…

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…

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…

This work proposes a coverage controller that enables an aerial team of distributed autonomous agents to collaboratively generate non-myopic coverage plans over a rolling finite horizon, aiming to cover specific points on the surface area…

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…

Collaborative autonomous multi-agent systems covering a specified area have many potential applications, such as UAV search and rescue, forest fire fighting, and real-time high-resolution monitoring. Traditional approaches for such coverage…

Hamilton-Jacobi (HJ) reachability is a method that provides rigorous analyses of the safety properties of dynamical systems. This method has been successfully applied to many low-dimensional dynamical system models such as coarse models of…

This paper is concerned with the deployment of multiple mobile robots in order to autonomously cover a region Q. The region to be covered is described using a density function which may not be apriori known. In this paper, we pose the…

Recently, there has been immense interest in using unmanned aerial vehicles (UAVs) for civilian operations. As a result, unmanned aerial systems traffic management is needed to ensure the safety and goal satisfaction of potentially…

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…

We present a hierarchical control approach for maneuvering an autonomous vehicle (AV) in tightly-constrained environments where other moving AVs and/or human driven vehicles are present. A two-level hierarchy is proposed: a high-level…

In this paper, we revisit the distributed coverage control problem with multiple robots on both metric graphs and in non-convex continuous environments. Traditionally, the solutions provided for this problem converge to a locally optimal…