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