3 citations · 3 across the 5 of their papers we have counts for
6 papers
Safe Score Matching: Diffusion Policies with Hamilton-Jacobi Reachability for Online Safe Reinforcement Learning
Boyang Li, Matthew Kim, Sylvia Lee Herbert
Online safe reinforcement learning (RL) seeks policies that maximize reward while satisfying safety constraints. A popular line of research in safe RL relaxes safety to a soft expe…
Semantic-Aware Command and Control Transmission for Multi-UAVs
Boya Li, Xiaonan Liu, Dongzhu Liu +2
Uncrewed aerial vehicles (UAVs) have played an important role in the low-altitude economy and have been used in various applications. However, with the increasing number of UAVs an…
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…
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…
A Forward Reachability Perspective on Control Barrier Functions and Discount Factors in Reachability Analysis
Jason J. Choi, Donggun Lee, Boyang Li +4
Control invariant sets are crucial for various methods that aim to design safe control policies for systems whose state constraints must be satisfied over an indefinite time horizo…