3 citations · 4 across the 13 of their papers we have counts for
9 papers · 1 filter
An Update to the Level Set Theorems in Hamilton-Jacobi Reachability Analysis
Dylan Hirsch, William McEneaney, Jaime Fisac +2
Hamilton-Jacobi Reachability (HJR) is an important framework for controlling safety-critical systems despite uncertainty. Its theoretical underpinnings are rooted in Hamilton-Jacob…
Robust Direct Data-Driven Hamiltonian for Safe Set Computation under Measurement Noise and Disturbances
Mohammad Bajelani, Christopher A. Strong, Claire J. Tomlin +2
Safe set computation is a fundamental challenge in safety-critical control systems, especially in direct data-driven settings where safety analysis is performed directly from noise…
Characterization and Analysis of Emergency Landing Flight Envelopes with Graded Safety Specifications
Chams Eddine Mballo, Bryce L. Ferguson, Inkyu Jang +2
Emergency landing flight envelope analysis traditionally adopts a binary notion of safety, whereby a trajectory is safe only if state constraints are satisfied pointwise in time. I…
Inverse Safety Filtering: Inferring Constraints from Safety Filters for Decentralized Coordination
Minh Nguyen, Jingqi Li, Gechen Qu +1
Safe multi-agent coordination in uncertain environments can benefit from learning constraints from other agents. Implicitly communicating safety constraints through actions is a pr…
From Global to Local: Hierarchical Probabilistic Verification for Reachability Learning
Ebonye Smith, Sampada Deglurkar, Jingqi Li +2
Hamilton-Jacobi (HJ) reachability provides formal safety guarantees for nonlinear systems. However, it becomes computationally intractable in high-dimensional settings, motivating…
Active Calibration of Reachable Sets Using Approximate Pick-to-Learn
Sampada Deglurkar, Ebonye Smith, Jingqi Li +1
Reachability computations that rely on approximate or learned models require calibration in order to uphold confidence about their guarantees. Calibration generally involves sampli…
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…
When are safety filters safe? On minimum phase conditions of control barrier functions
Jason J. Choi, Claire J. Tomlin, Shankar Sastry +1
In emerging control applications involving multiple and complex tasks, safety filters are gaining prominence as a modular approach to enforcing safety constraints. Among various me…
Data-Driven Hamiltonian for Direct Construction of Safe Set from Trajectory Data
Jason J. Choi, Christopher A. Strong, Koushil Sreenath +2
In continuous-time optimal control, evaluating the Hamiltonian requires solving a constrained optimization problem using the system's dynamics model. Hamilton-Jacobi reachability a…