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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…
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…
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…