7 papers · 1 filter
Exact Decomposition of Value Functions for Two-Player Games in Hamilton-Jacobi Reachability
Dylan Hirsch, William Sharpless, Sylvia Herbert
Hamilton-Jacobi reachability (HJR) is an important framework in safe control theory. HJR provides theoretical tools and numerical methods to obtain value-functions for tasks involv…
Extending and Unifying the Fundamental Tasks of Hamilton-Jacobi Reachability Analysis
Dylan Hirsch, William Sharpless, Donggun Lee +1
In this work, we introduce the generalized reach-avoid (GRA) task, which both extends and unifies the canonical tasks of Hamilton-Jacobi Reachability (HJR). We show that the GRA no…
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…
Exact Decomposition of Adversarial Dual-Objective Value Functions, with Applications to Optimal Drug Dosing
Dylan Hirsch, William Sharpless, Sylvia Herbert
Hamilton-Jacobi Reachability (HJR) is a central framework in safe control theory. While HJR has traditionally focused on a few fundamental tasks, there is increasing interest in sc…
Viscosity CBFs: Bridging the Control Barrier Function and Hamilton-Jacobi Reachability Frameworks in Safe Control Theory
Dylan Hirsch, Jaime Fernández Fisac, Sylvia Herbert
Control barrier functions (CBFs) and Hamilton-Jacobi reachability (HJR) are central frameworks in safe control. Traditionally, these frameworks have been viewed as distinct, with t…
Approximate Hamilton-Jacobi Reachability Analysis for a Class of Two-Timescale Systems, with Application to Biological Models
Dylan Hirsch, Sylvia Herbert
Hamilton-Jacobi reachability (HJR) is an exciting framework used for control of safety-critical systems with nonlinear and possibly uncertain dynamics. However, HJR suffers from th…
Back to Base: Towards Hands-Off Learning via Safe Resets with Reach-Avoid Safety Filters
Azra Begzadić, Nikhil Uday Shinde, Sander Tonkens +5
Designing controllers that accomplish tasks while guaranteeing safety constraints remains a significant challenge. We often want an agent to perform well in a nominal task, such as…