2 papers
cs.RO2024
One Filter to Deploy Them All: Robust Safety for Quadrupedal Navigation in Unknown Environments
Albert Lin, Shuang Peng, Somil Bansal
As learning-based methods for legged robots rapidly grow in popularity, it is important that we can provide safety assurances efficiently across different controllers and environme…
cs.RO2024
Hamilton-Jacobi Reachability Analysis for Hybrid Systems with Controlled and Forced Transitions
Javier Borquez, Shuang Peng, Yiyu Chen +2
Hybrid dynamical systems with nonlinear dynamics are one of the most general modeling tools for representing robotic systems, especially contact-rich systems. However, providing gu…