From the 1 of 9 linked papers with an AI index.
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The Feasibility Theory of Constrained Reinforcement Learning: A Tutorial Study
Yujie Yang, Zhilong Zheng, Masayoshi Tomizuka +2
Satisfying safety constraints is a priority concern when solving optimal control problems (OCPs). Due to the existence of infeasibility phenomenon, where a constraint-satisfying so…
An Explicit Discrete-Time Dynamic Vehicle Model with Assured Numerical Stability
Guojian Zhan, Qiang Ge, Haoyu Gao +3
Numerical stability is of great significance for discrete-time dynamic vehicle model. Among the unstable factors, low-speed singularity stands out as one of the most challenging is…
Scalable Synthesis of Formally Verified Neural Value Function for Hamilton-Jacobi Reachability Analysis
Yujie Yang, Hanjiang Hu, Tianhao Wei +2
Hamilton-Jacobi (HJ) reachability analysis provides a formal method for guaranteeing safety in constrained control problems. It synthesizes a value function to represent a long-ter…
Controllability Test for Nonlinear Datatic Systems
Yujie Yang, Letian Tao, Likun Wang +1
Controllability is a fundamental property of control systems, serving as the prerequisite for controller design. While controllability test is well established in modelic (i.e., mo…