160 citations · 403 across the 56 of their papers we have counts for
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On Safety and Liveness Filtering Using Hamilton-Jacobi Reachability Analysis
Javier Borquez, Kaustav Chakraborty, Hao Wang +1
Hamilton-Jacobi (HJ) reachability-based filtering provides a powerful framework to co-optimize performance and safety (or liveness) for autonomous systems. Under this filtering sch…
Verification of Neural Reachable Tubes via Scenario Optimization and Conformal Prediction
Albert Lin, Somil Bansal
Learning-based approaches for controlling safety-critical systems are rapidly growing in popularity; thus, it is important to assure their performance and safety. Hamilton-Jacobi (…
Detecting and Mitigating System-Level Anomalies of Vision-Based Controllers
Aryaman Gupta, Kaustav Chakraborty, Somil Bansal
Autonomous systems, such as self-driving cars and drones, have made significant strides in recent years by leveraging visual inputs and machine learning for decision-making and con…
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…