3 citations · 4 across the 3 of their papers we have counts for
4 papers · 1 filter
Hamilton-Jacobi Reachability for Hybrid Systems: Unified Goal-Driven Control with Safety Guarantees
Javier Borquez, Shuang Peng, Somil Bansal
Hybrid dynamical systems provide a powerful modeling framework for robotic systems, particularly in contact-rich environments. However, ensuring safety and performance in such syst…
One Filter to Deploy Them All: Robust Safety for Quadrupedal Navigation in Unknown Environments
Albert Lin, Shuang Peng, Somil Bansal
As learning-based methods for legged robots rapidly grow in popularity, it is important that we can provide safety assurances efficiently across different controllers and environme…
Hamilton-Jacobi Reachability Analysis for Hybrid Systems with Controlled and Forced Transitions
Javier Borquez, Shuang Peng, Yiyu Chen +2
Hybrid dynamical systems with nonlinear dynamics are one of the most general modeling tools for representing robotic systems, especially contact-rich systems. However, providing gu…
Self-Reconfigurable Soft-Rigid Mobile Agent with Variable Stiffness and Adaptive Morphology
Luiza Labazanova, Shuang Peng, Liuming Qiu +3
In this paper, we propose a novel design of a hybrid mobile robot with controllable stiffness and deformable shape. Compared to conventional mobile agents, our system can switch be…