12 papers
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…
Robust Direct Data-Driven Hamiltonian for Safe Set Computation under Measurement Noise and Disturbances
Mohammad Bajelani, Christopher A. Strong, Claire J. Tomlin +2
Safe set computation is a fundamental challenge in safety-critical control systems, especially in direct data-driven settings where safety analysis is performed directly from noise…
Characterization and Analysis of Emergency Landing Flight Envelopes with Graded Safety Specifications
Chams Eddine Mballo, Bryce L. Ferguson, Inkyu Jang +2
Emergency landing flight envelope analysis traditionally adopts a binary notion of safety, whereby a trajectory is safe only if state constraints are satisfied pointwise in time. I…
Inverse Safety Filtering: Inferring Constraints from Safety Filters for Decentralized Coordination
Minh Nguyen, Jingqi Li, Gechen Qu +1
Safe multi-agent coordination in uncertain environments can benefit from learning constraints from other agents. Implicitly communicating safety constraints through actions is a pr…
From Global to Local: Hierarchical Probabilistic Verification for Reachability Learning
Ebonye Smith, Sampada Deglurkar, Jingqi Li +2
Hamilton-Jacobi (HJ) reachability provides formal safety guarantees for nonlinear systems. However, it becomes computationally intractable in high-dimensional settings, motivating…
Active Calibration of Reachable Sets Using Approximate Pick-to-Learn
Sampada Deglurkar, Ebonye Smith, Jingqi Li +1
Reachability computations that rely on learned or estimated models require calibration in order to uphold confidence about their guarantees. Calibration generally involves sampling…