4 papers · 1 filter
Forward Trajectory Steering for Hamilton-Jacobi Reachability Analysis
Sungje Park, Stephen Tu
Hamilton-Jacobi (HJ) reachability provides a mathematically rigorous framework for safe control of dynamical systems, but its practical application is bottlenecked by the computati…
Latent Representations for Control Design with Provable Stability and Safety Guarantees
Paul Lutkus, Kaiyuan Wang, Lars Lindemann +1
We initiate a formal study on the use of low-dimensional latent representations of dynamical systems for verifiable control synthesis. Our main goal is to enable the application of…
Data-Driven Reachability with Scenario Optimization and the Holdout Method
Elizabeth Dietrich, Rosalyn Devonport, Stephen Tu +1
Reachability analysis is an important method in providing safety guarantees for systems with unknown or uncertain dynamics. Due to the computational intractability of exact reachab…
Incremental Composition of Learned Control Barrier Functions in Unknown Environments
Paul Lutkus, Deepika Anantharaman, Stephen Tu +1
We consider the problem of safely exploring a static and unknown environment while learning valid control barrier functions (CBFs) from sensor data. Existing works either assume kn…