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cs.RO2024
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…
cs.RO2023
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…
cs.RO2023
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…