5 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…
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…
State-Augmented Linear Games with Antagonistic Error for High-Dimensional, Nonlinear Hamilton-Jacobi Reachability
Will Sharpless, Yat Tin Chow, Sylvia Herbert
Hamilton-Jacobi Reachability (HJR) is a popular method for analyzing the liveness and safety of a dynamical system with bounded control and disturbance. The corresponding HJ value…
Conservative Linear Envelopes for Nonlinear, High-Dimensional, Hamilton-Jacobi Reachability
Will Sharpless, Yat Tin Chow, Sylvia Herbert
Hamilton-Jacobi reachability (HJR) provides a value function that encodes the set of states from which a system with bounded control inputs can reach or avoid a target despite any…