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cs.RO2026
Fast Direction-Conditioned Reachability for Motion Prediction Under Model Uncertainty
Hrishav Das, Melkior Ornik
To avoid collisions, a robot must repeatedly predict where nearby agents may move, usually with an imperfect model of their dynamics. Reachable sets provide such predictions, but c…
eess.SY2026
Input Matrix Optimization for Desired Reachable Set Warping of Linear Systems
Hrishav Das, Melkior Ornik
Shaping the reachable set of a dynamical system is a fundamental challenge in control design, with direct implications for both performance and safety. This paper considers the pro…