5 papers · 1 filter
PRISM: Efficient and Locally Optimal Probabilistic Planning with Reachability Guarantees
Alex Rose, Christopher Jewison, Jonathan P. How
Belief-space planning under motion uncertainty and state and control constraints remains a fundamental challenge, largely due to the difficulty of establishing reachability guarant…
GUARDIAN: Safety Filtering for Systems with Perception Models Subject to Adversarial Attacks
Nicholas Rober, Alex Rose, Jonathan P. How
Safety filtering is an effective method for enforcing constraints in safety-critical systems, but existing methods typically assume perfect state information. This limitation is es…
Efficient Probabilistic Planning with Maximum-Coverage Distributionally Robust Backward Reachable Trees
Alex Rose, Naman Aggarwal, Christopher Jewison +1
This paper presents a new multi-query motion planning algorithm for linear Gaussian systems with the goal of reaching a Euclidean ball with high probability. We develop a new formu…
Constraint-Aware Refinement for Safety Verification of Neural Feedback Loops
Nicholas Rober, Jonathan P. How
Neural networks (NNs) are becoming increasingly popular in the design of control pipelines for autonomous systems. However, since the performance of NNs can degrade in the presence…
SDP Synthesis of Distributionally Robust Backward Reachable Trees for Probabilistic Planning
Naman Aggarwal, Jonathan P. How
The paper presents Maximal Ellipsoid Backward Reachable Trees MAXELLIPSOID BRT, which is a multi-query algorithm for planning of dynamic systems under stochastic motion uncertainty…