相关论文: Hamilton--Jacobi Reachability for Spacecraft Colli…

We present a numeric method to compute the safe operating flight conditions for a helicopter such that we can ensure a safe landing in the event of a partial or total engine failure. The unsafe operating region is the complement of the…

This paper investigates the problem of maintaining the safe operation of Waste-to-Energy (WtE) systems under operational constraints and uncertain waste inflows. We model this as a robust viability problem, formulated as a zero-sum…

Recently, there has been immense interest in using unmanned aerial vehicles (UAVs) for civilian operations such as package delivery, firefighting, and fast disaster response. As a result, UAV traffic management systems are needed to support…

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…

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…

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…

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…

Autonomous robots commonly aim to complete a nominal behavior while minimizing a cost; this leaves them vulnerable to failure or unplanned scenarios, where a backup or contingency plan to a safe set is needed to avoid a total mission…

Hamilton-Jacobi (HJ) reachability-based filtering provides a powerful framework to co-optimize performance and safety (or liveness) for autonomous systems. Under this filtering scheme, a nominal controller is minimally modified to ensure…

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…

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…

As safety-critical autonomous vehicles (AVs) will soon become pervasive in our society, a number of safety concepts for trusted AV deployment have recently been proposed throughout industry and academia. Yet, achieving consensus on an…

Hamilton-Jacobi Reachability (HJR) is a popular method for analyzing the liveness and safety of a dynamical system with bounded control and disturbance. The corresponding HJ value function offers a robust controller and characterizes the…

Hamilton-Jacobi (HJ) reachability analysis is an important formal verification method for guaranteeing performance and safety properties of dynamical control systems. Its advantages include compatibility with general nonlinear system…

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…

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…

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,…

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…

Multi-vehicle collision avoidance is a highly crucial problem due to the soaring interests of introducing autonomous vehicles into the real world in recent years. The safety of these vehicles while they complete their objectives is of…

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…