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eess.SY2025
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…
eess.SY2025
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…
eess.SY2025
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…