From the 1 of 9 linked papers with an AI index.
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An Update to the Level Set Theorems in Hamilton-Jacobi Reachability Analysis
Dylan Hirsch, William McEneaney, Jaime Fisac +2
Hamilton-Jacobi Reachability (HJR) is an important framework for controlling safety-critical systems despite uncertainty. Its theoretical underpinnings are rooted in Hamilton-Jacob…
Exact Decomposition of Adversarial Dual-Objective Value Functions, with Applications to Optimal Drug Dosing
Dylan Hirsch, William Sharpless, Sylvia Herbert
The paper proves that certain decompositions of dual‑objective value functions remain valid when an adversary is present, and demonstrates how this can be used to design optimal dr…
Viscosity CBFs: Bridging the Control Barrier Function and Hamilton-Jacobi Reachability Frameworks in Safe Control Theory
Dylan Hirsch, Jaime Fernández Fisac, Sylvia Herbert
Control barrier functions (CBFs) and Hamilton-Jacobi reachability (HJR) are central frameworks in safe control. Traditionally, these frameworks have been viewed as distinct, with t…
Back to Base: Towards Hands-Off Learning via Safe Resets with Reach-Avoid Safety Filters
Azra BegzadiÄ, Nikhil Uday Shinde, Sander Tonkens +5
Designing controllers that accomplish tasks while guaranteeing safety constraints remains a significant challenge. We often want an agent to perform well in a nominal task, such as…
Approximate Hamilton-Jacobi Reachability Analysis for a Class of Two-Timescale Systems, with Application to Biological Models
Dylan Hirsch, Sylvia Herbert
Hamilton-Jacobi reachability (HJR) is an exciting framework used for control of safety-critical systems with nonlinear and possibly uncertain dynamics. However, HJR suffers from th…