160 citations · 336 across the 21 of their papers we have counts for
9 papers · 1 filter
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…
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…
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…
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…
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…
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…
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…