6 papers
Reachability-Based Design Optimization for Aircraft Maneuverability
Steven Nguyen, Nicholas Orndorff, Jorge Cortés +1
This paper presents a method for incorporating control analysis into design optimization for highly-maneuverable aircraft. By studying reachable sets for aircraft dynamics, we ensu…
Safe Policy Optimization via Control Barrier Function-based Safety Filters
Yiting Chen, Pol Mestres, Emiliano Dall'Anese +1
Control barrier function (CBF)-based safety filters provide a systematic way to enforce state constraints, but they can significantly alter the closed-loop dynamics induced by a no…
Reachability Analysis for Design Optimization
Steven Nguyen, Jorge Cortés, Boris Kramer
We present an approach to approximate reachable sets for linear systems with bounded L-infinity controls in finite time. Our first approach investigates the boundaries of these set…
Safe Feedback Optimization through Control Barrier Functions
Giannis Delimpaltadakis, Pol Mestres, Jorge Cortés +1
Feedback optimization refers to a class of methods that steer a control system to a steady state that solves an optimization problem. Despite tremendous progress on the topic, an i…
Off-Policy Reinforcement Learning with Anytime Safety Guarantees via Robust Safe Gradient Flow
Pol Mestres, Arnau Marzabal, Jorge Cortés
This paper considers the problem of solving constrained reinforcement learning (RL) problems with anytime guarantees, meaning that the algorithmic solution must yield a constraint-…
From Space to Time: Enabling Adaptive Safety with Learned Value Functions via Disturbance Recasting
Sander Tonkens, Nikhil Uday Shinde, Azra BegzadiÄ +3
The widespread deployment of autonomous systems in safety-critical environments such as urban air mobility hinges on ensuring reliable, performant, and safe operation under varying…