160 citations · 336 across the 21 of their papers we have counts for
24 papers
An Update to the Level Set Theorems in Hamilton-Jacobi Reachability Analysis
Dylan Hirsch, William McEneaney, Jaime Fisac +2
Hamilton-Jacobi Reachability (HJR) is an important framework for controlling safety-critical systems despite uncertainty. Its theoretical underpinnings are rooted in Hamilton-Jacob…
A Forward Reachability Perspective on Control Barrier Functions and Discount Factors in Reachability Analysis
Jason J. Choi, Donggun Lee, Boyang Li +4
Control invariant sets are crucial for various methods that aim to design safe control policies for systems whose state constraints must be satisfied over an indefinite time horizo…
Iterative Reachability Estimation for Safe Reinforcement Learning
Milan Ganai, Zheng Gong, Chenning Yu +2
Ensuring safety is important for the practical deployment of reinforcement learning (RL). Various challenges must be addressed, such as handling stochasticity in the environments,…
Object-centric Representations for Interactive Online Learning with Non-Parametric Methods
Nikhil U. Shinde, Jacob Johnson, Sylvia Herbert +1
Large offline learning-based models have enabled robots to successfully interact with objects for a wide variety of tasks. However, these models rely on fairly consistent structure…
Sequential Neural Barriers for Scalable Dynamic Obstacle Avoidance
Hongzhan Yu, Chiaki Hirayama, Chenning Yu +2
There are two major challenges for scaling up robot navigation around dynamic obstacles: the complex interaction dynamics of the obstacles can be hard to model analytically, and th…
Patching Approximately Safe Value Functions Leveraging Local Hamilton-Jacobi Reachability Analysis
Sander Tonkens, Alex Toofanian, Zhizhen Qin +2
Safe value functions, such as control barrier functions, characterize a safe set and synthesize a safety filter, overriding unsafe actions, for a dynamic system. While function app…
Koopman-Hopf Hamilton-Jacobi Reachability and Control
Will Sharpless, Nikhil Shinde, Matthew Kim +2
The Hopf formula for Hamilton-Jacobi reachability (HJR) analysis has been proposed to solve high-dimensional differential games, producing the set of initial states and correspondi…
Refining Control Barrier Functions through Hamilton-Jacobi Reachability
Sander Tonkens, Sylvia Herbert
Safety filters based on Control Barrier Functions (CBFs) have emerged as a practical tool for the safety-critical control of autonomous systems. These approaches encode safety thro…
A Second-Order Reachable Sets Computation Scheme via a Cauchy-Type Variational Hamilton-Jacobi-Isaacs Equation
Lekan Molu, Ian Abraham, Sylvia Herbert
Motivated by the scalability limitations of Eulerian methods for variational Hamilton-Jacobi-Isaacs (HJI) formulations that provide a least restrictive controller in problems that…
Safe Autonomous Racing via Approximate Reachability on Ego-vision
Bingqing Chen, Jonathan Francis, Jean Oh +2
Racing demands each vehicle to drive at its physical limits, when any safety infraction could lead to catastrophic failure. In this work, we study the problem of safe reinforcement…
Robust Control Barrier-Value Functions for Safety-Critical Control
Jason J. Choi, Donggun Lee, Koushil Sreenath +2
This paper works towards unifying two popular approaches in the safety control community: Hamilton-Jacobi (HJ) reachability and Control Barrier Functions (CBFs). HJ Reachability ha…
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…
Scalable Learning of Safety Guarantees for Autonomous Systems using Hamilton-Jacobi Reachability
Sylvia Herbert, Jason J. Choi, Suvansh Sanjeev +3
Autonomous systems like aircraft and assistive robots often operate in scenarios where guaranteeing safety is critical. Methods like Hamilton-Jacobi reachability can provide guaran…
Reachability-Based Safety Guarantees using Efficient Initializations
Sylvia L. Herbert, Shromona Ghosh, Somil Bansal +1
Hamilton-Jacobi-Isaacs (HJI) reachability analysis is a powerful tool for analyzing the safety of autonomous systems. This analysis is computationally intensive and typically perfo…
A Scalable Framework For Real-Time Multi-Robot, Multi-Human Collision Avoidance
Andrea Bajcsy, Sylvia L. Herbert, David Fridovich-Keil +4
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents,…
Robust Tracking with Model Mismatch for Fast and Safe Planning: an SOS Optimization Approach
Sumeet Singh, Mo Chen, Sylvia L. Herbert +2
In the pursuit of real-time motion planning, a commonly adopted practice is to compute a trajectory by running a planning algorithm on a simplified, low-dimensional dynamical model…
Probabilistically Safe Robot Planning with Confidence-Based Human Predictions
Jaime F. Fisac, Andrea Bajcsy, Sylvia L. Herbert +4
In order to safely operate around humans, robots can employ predictive models of human motion. Unfortunately, these models cannot capture the full complexity of human behavior and…
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…
Planning, Fast and Slow: A Framework for Adaptive Real-Time Safe Trajectory Planning
David Fridovich-Keil, Sylvia L. Herbert, Jaime F. Fisac +2
Motion planning is an extremely well-studied problem in the robotics community, yet existing work largely falls into one of two categories: computationally efficient but with few i…
Hamilton-Jacobi Reachability: A Brief Overview and Recent Advances
Somil Bansal, Mo Chen, Sylvia Herbert +1
Hamilton-Jacobi (HJ) reachability analysis is an important formal verification method for guaranteeing performance and safety properties of dynamical systems; it has been applied t…
FaSTrack: a Modular Framework for Fast and Guaranteed Safe Motion Planning
Sylvia L. Herbert, Mo Chen, SooJean Han +3
Fast and safe navigation of dynamical systems through a priori unknown cluttered environments is vital to many applications of autonomous systems. However, trajectory planning for…
Decomposition of Reachable Sets and Tubes for a Class of Nonlinear Systems
Mo Chen, Sylvia L. Herbert, Mahesh S. Vashishtha +2
Reachability analysis provides formal guarantees for performance and safety properties of nonlinear control systems. Here, one aims to compute the backward reachable set (BRS) or t…
Exact and Efficient Hamilton-Jacobi-based Guaranteed Safety Analysis via System Decomposition
Mo Chen, Sylvia Herbert, Claire J. Tomlin
Hamilton-Jacobi (HJ) reachability is a method that provides rigorous analyses of the safety properties of dynamical systems. This method has been successfully applied to many low-d…
Fast Reachable Set Approximations via State Decoupling Disturbances
Mo Chen, Sylvia Herbert, Claire J. Tomlin
With the recent surge of interest in using robotics and automation for civil purposes, providing safety and performance guarantees has become extremely important. In the past, diff…