25 citations · 40 across the 15 of their papers we have counts for
8 papers · 1 filter
Extending and Unifying the Fundamental Tasks of Hamilton-Jacobi Reachability Analysis
Dylan Hirsch, William Sharpless, Donggun Lee +1
In this work, we introduce the generalized reach-avoid (GRA) task, which both extends and unifies the canonical tasks of Hamilton-Jacobi Reachability (HJR). We show that the GRA no…
A Hamilton-Jacobi Reachability Framework with Soft Constraints for Safety-Critical Systems
Chams Eddine Mballo, Donggun Lee, Claire J. Tomlin
Traditional reachability methods provide formal guarantees of safety under bounded disturbances. However, they strictly enforce state constraints as inviolable, which can result in…
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…
Infinite-Horizon Reach-Avoid Zero-Sum Games via Deep Reinforcement Learning
Jingqi Li, Donggun Lee, Somayeh Sojoudi +1
In this paper, we consider the infinite-horizon reach-avoid zero-sum game problem, where the goal is to find a set in the state space, referred to as the reach-avoid set, such that…
Towards cyber-physical systems robust to communication delays: A differential game approach
Shankar A. Deka, Donggun Lee, Claire J. Tomlin
Collaboration between interconnected cyber-physical systems is becoming increasingly pervasive. Time-delays in communication channels between such systems are known to induce catas…
A Computationally Efficient Hamilton-Jacobi-based Formula for State-Constrained Optimal Control Problems
Donggun Lee, Claire J. Tomlin
This paper investigates a Hamilton-Jacobi (HJ) analysis to solve finite-horizon optimal control problems for high-dimensional systems. Although grid-based methods, such as the leve…
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…
A Risk-Sensitive Finite-Time Reachability Approach for Safety of Stochastic Dynamic Systems
Margaret P. Chapman, Jonathan Lacotte, Aviv Tamar +7
A classic reachability problem for safety of dynamic systems is to compute the set of initial states from which the state trajectory is guaranteed to stay inside a given constraint…