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cs.RO2023★ 2 cited
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…
cs.RO2022
Quantifying Safety of Learning-based Self-Driving Control Using Almost-Barrier Functions
Zhizhen Qin, Tsui-Wei Weng, Sicun Gao
Path-tracking control of self-driving vehicles can benefit from deep learning for tackling longstanding challenges such as nonlinearity and uncertainty. However, deep neural contro…