6 papers
Reach-Avoid-Stabilize Using Admissible Control Sets
Zheng Gong, Boyang Li, Sylvia Herbert
Hamilton-Jacobi Reachability (HJR) analysis has been successfully used in many robotics and control tasks, and is especially effective in computing reach-avoid sets and control law…
Solving Reach- and Stabilize-Avoid Problems Using Discounted Reachability
Boyang Li, Zheng Gong, Sylvia Herbert
In this article, we consider the infinite-horizon reach-avoid (RA) and stabilize-avoid (SA) zero-sum game problems for general nonlinear continuous-time systems, where the goal is…
Parameterized Fast and Safe Tracking (FaSTrack) using Deepreach
Hyun Joe Jeong, Zheng Gong, Somil Bansal +1
Fast and Safe Tracking (FaSTrack) is a modular framework that provides safety guarantees while planning and executing trajectories in real time via value functions of Hamilton-Jaco…
Safe Returning FaSTrack with Robust Control Lyapunov-Value Functions
Zheng Gong, Boyang Li, Sylvia Herbert
Real-time navigation in a priori unknown environment remains a challenging task, especially when an unexpected (unmodeled) disturbance occurs. In this paper, we propose the framewo…
Synthesizing Control Lyapunov-Value Functions for High-Dimensional Systems Using System Decomposition and Admissible Control Sets
Zheng Gong, Hyun Joe Jeong, Sylvia Herbert
Control Lyapunov functions (CLFs) play a vital role in modern control applications, but finding them remains a problem. Recently, the control Lyapunov-value function (CLVF) and rob…
Robust Control Lyapunov-Value Functions for Nonlinear Disturbed Systems
Zheng Gong, Sylvia Herbert
Control Lyapunov Functions (CLFs) have been extensively used in the control community. A well-known drawback is the absence of a systematic way to construct CLFs for general nonlin…