9 citations · 16 across the 7 of their papers we have counts for
7 papers
Timely Activation of Safety Filters via One-Step Reachability Expansion
Javier Borquez
Least-restrictive safety filters based on Hamilton-Jacobi reachability provide strong safety guarantees by overriding a nominal controller only when the system reaches the boundary…
Hamilton-Jacobi Reachability for Hybrid Systems: Unified Goal-Driven Control with Safety Guarantees
Javier Borquez, Shuang Peng, Somil Bansal
Hybrid dynamical systems provide a powerful modeling framework for robotic systems, particularly in contact-rich environments. However, ensuring safety and performance in such syst…
DualGuard MPPI: Safe and Performant Optimal Control by Combining Sampling-Based MPC and Hamilton-Jacobi Reachability
Javier Borquez, Luke Raus, Yusuf Umut Ciftci +1
Designing controllers that are both safe and performant is inherently challenging. This co-optimization can be formulated as a constrained optimal control problem, where the cost f…
Providing Safety Assurances for Systems with Unknown Dynamics
Hao Wang, Javier Borquez, Somil Bansal
As autonomous systems become more complex and integral in our society, the need to accurately model and safely control these systems has increased significantly. In the past decade…
On Safety and Liveness Filtering Using Hamilton-Jacobi Reachability Analysis
Javier Borquez, Kaustav Chakraborty, Hao Wang +1
Hamilton-Jacobi (HJ) reachability-based filtering provides a powerful framework to co-optimize performance and safety (or liveness) for autonomous systems. Under this filtering sch…
Hamilton-Jacobi Reachability Analysis for Hybrid Systems with Controlled and Forced Transitions
Javier Borquez, Shuang Peng, Yiyu Chen +2
Hybrid dynamical systems with nonlinear dynamics are one of the most general modeling tools for representing robotic systems, especially contact-rich systems. However, providing gu…
Parameter-Conditioned Reachable Sets for Updating Safety Assurances Online
Javier Borquez, Kensuke Nakamura, Somil Bansal
Hamilton-Jacobi (HJ) reachability analysis is a powerful tool for analyzing the safety of autonomous systems. However, the provided safety assurances are often predicated on the as…