3 papers
math.OC2026
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…
math.OC2026
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…
cs.RO2025
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…