4 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…
Robust Sampling-Based Covariance Steering for Aerocapture Guidance
Alex Rose, Christopher Jewison, Jonathan P. How
Aerocapture is a maneuver where a spacecraft dives through the atmosphere of a planet or moon to reduce its velocity and prepare for orbital insertion. Aerocapture allows for highe…
GUARDIAN: Safety Filtering for Systems with Perception Models Under Adversarial Attack
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…