相关论文: Safe Control for Pursuit-Evasion with Density Func…

We explore the approximation of feedback control of integro-differential equations containing a fractional Laplacian term. To obtain feedback control for the state variable of this nonlocal equation we use the Hamilton--Jacobi--Bellman…

We consider a pursuit-evasion differential game with a Hybrid system of dynamics in Hilbert space with integral constraints on the control functions of players. We show that the pursuer has a winning strategy.

We consider nonconvex obstacle avoidance where a robot described by nonlinear dynamics and a nonconvex shape has to avoid nonconvex obstacles. Obstacle avoidance is a fundamental problem in robotics and well studied in control. However,…

This paper presents conditions for ensuring forward invariance of safe sets under sampled-data system dynamics with piecewise-constant controllers and fixed time-steps. First, we introduce two different metrics to compare the…

Accurate quantification of safety is essential for the design of autonomous systems. In this paper, we present a methodology to characterize the exact probabilities associated with invariance and recovery in safe control. We consider a…

This paper considers for the first time pursuit-evasion (PE) differential games with irrational perceptions of both pursuer and evader on probabilistic characteristics of environmental uncertainty. Firstly, the irrational perceptions of…

In this paper, we address a pursuit-evasion game involving multiple players by utilizing tools and techniques from reinforcement learning and matrix game theory. In particular, we consider the problem of steering an evader to a goal…

Learning-based methods have been successful in solving complex control tasks without significant prior knowledge about the system. However, these methods typically do not provide any safety guarantees, which prevents their use in…

As autonomous driving technology matures, safety and robustness of its key components, including trajectory prediction, is vital. Though real-world datasets, such as Waymo Open Motion, provide realistic recorded scenarios for model…

We consider the problem of navigation with safety constraints. The safety constraints are probabilistic, where a given set is assigned a degree of safety, a number between zero and one, with zero being safe and one being unsafe. The…

We present a fast trajectory optimization algorithm for the soft capture of uncooperative tumbling space objects. Our algorithm generates safe, dynamically feasible, and minimum-fuel trajectories for a six-degree-of-freedom servicing…

Spreading the information over all coefficients of a representation is a desirable property in many applications such as digital communication or machine learning. This so-called antisparse representation can be obtained by solving a convex…

Hamilton-Jacobi Reachability (HJR) analysis has been successfully used in many robotics and control tasks, and is especially effective in computing reach-avoid sets and control laws that enable an agent to reach a goal while satisfying…

One of the most fundamental problems in Markov decision processes is analysis and control synthesis for safety and reachability specifications. We consider the stochastic reach-avoid problem, in which the objective is to synthesize a…

This research addresses the increasing demand for advanced navigation systems capable of operating within confined surroundings. A significant challenge in this field is developing an efficient planning framework that can generalize across…

We consider a surveillance-evasion game in an environment with obstacles. In such an environment, a mobile pursuer seeks to maintain the visibility with a mobile evader, who tries to get occluded from the pursuer in the shortest time…

We consider a class of pursuit-evasion differential games in which the evader has continuous access to the pursuer's location, but not vice-versa. There is a remote sensor (e.g., a radar station) that can sense the evader's location upon a…

The safety region of operation of a system is the subset of allowed outputs for which no undesirable outcome would occur. Knowing if a system would ever leave its safety regions of operation is important information for the planning and…

We consider the feedback design for stabilizing a rigid body system by making and breaking multiple contacts with the environment without prespecifying the timing or the number of occurrence of the contacts. We model such a system as a…

This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…