12 citations · 19 across the 18 of their papers we have counts for
5 papers · 1 filter
Efficient Norm-Based Reachable Sets via Iterative Dynamic Programming
Akash Harapanahalli, Samuel Coogan
In this work, we present a numerical optimal control framework for reachable set computation using \emph{normotopes}, a new set representation as a norm ball with a shaping matrix.…
Automatic and Scalable Safety Verification using Interval Reachability with Subspace Sampling
Brendan Gould, Akash Harapanahalli, Samuel Coogan
Interval refinement is a technique for reducing the conservatism of traditional interval based reachability methods by lifting the system to a higher dimension using new auxiliary…
linrax: A JAX Compatible, Simplex Method Linear Program Solver
Brendan Gould, Akash Harapanahalli, Samuel Coogan
We present linrax, the first simplex based linear program (LP) solver compatible with the JAX ecosystem. In many control algorithms, LPs are often automatically generated and frequ…
Parametric Reachable Sets Via Controlled Dynamical Embeddings
Akash Harapanahalli, Samuel Coogan
In this work, we propose a new framework for reachable set computation through continuous evolution of a set of parameters and offsets which define a parametope, through the inters…
Uncertainty Estimators for Robust Backup Control Barrier Functions
David E. J. van Wijk, Ersin Das, Anil Alan +5
Designing safe controllers is crucial and notoriously challenging for input-constrained safety-critical control systems. Backup control barrier functions offer an approach for the…