80 citations · 81 across the 5 of their papers we have counts for
9 papers · 1 filter
System-Level Safety Monitoring and Recovery for Perception Failures in Autonomous Vehicles
Kaustav Chakraborty, Zeyuan Feng, Sushant Veer +4
The safety-critical nature of autonomous vehicle (AV) operation necessitates development of task-relevant algorithms that can reason about safety at the system level and not just a…
Updating Robot Safety Representations Online from Natural Language Feedback
Leonardo Santos, Zirui Li, Lasse Peters +2
Robots must operate safely when deployed in novel and human-centered environments, like homes. Current safe control approaches typically assume that the safety constraints are know…
Gait Switching and Enhanced Stabilization of Walking Robots with Deep Learning-based Reachability: A Case Study on Two-link Walker
Xingpeng Xia, Jason J. Choi, Ayush Agrawal +3
Learning-based approaches have recently shown notable success in legged locomotion. However, these approaches often lack accountability, necessitating empirical tests to determine…
Computation of Regions of Attraction for Hybrid Limit Cycles Using Reachability: An Application to Walking Robots
Jason J. Choi, Ayush Agrawal, Koushil Sreenath +2
Contact-rich robotic systems, such as legged robots and manipulators, are often represented as hybrid systems. However, the stability analysis and region-of-attraction computation…
FaSTrack: a Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking
Mo Chen, Sylvia L. Herbert, Haimin Hu +5
Real-time, guaranteed safe trajectory planning is vital for navigation in unknown environments. However, real-time navigation algorithms typically sacrifice robustness for computat…
DeepReach: A Deep Learning Approach to High-Dimensional Reachability
Somil Bansal, Claire Tomlin
Hamilton-Jacobi (HJ) reachability analysis is an important formal verification method for guaranteeing performance and safety properties of dynamical control systems. Its advantage…