4 papers
Inferring Objectives in Continuous Dynamic Games from Noise-Corrupted Partial State Observations
Lasse Peters, David Fridovich-Keil, Vicenç Rubies-Royo +2
Robots and autonomous systems must interact with one another and their environment to provide high-quality services to their users. Dynamic game theory provides an expressive theor…
An Iterative Quadratic Method for General-Sum Differential Games with Feedback Linearizable Dynamics
David Fridovich-Keil, Vicenc Rubies-Royo, Claire J. Tomlin
Iterative linear-quadratic (ILQ) methods are widely used in the nonlinear optimal control community. Recent work has applied similar methodology in the setting of multiplayer gener…
A Minimum Discounted Reward Hamilton-Jacobi Formulation for Computing Reachable Sets
Anayo K. Akametalu, Shromona Ghosh, Jaime F. Fisac +1
We propose a novel formulation for approximating reachable sets through a minimum discounted reward optimal control problem. The formulation yields a continuous solution that can b…
A Classification-based Approach for Approximate Reachability
Vicenc Rubies-Royo, David Fridovich-Keil, Sylvia Herbert +1
Hamilton-Jacobi (HJ) reachability analysis has been developed over the past decades into a widely-applicable tool for determining goal satisfaction and safety verification in nonli…