3 papers
eess.SY2025
Data-Driven Nonconvex Reachability Analysis using Exact Multiplication
Zhen Zhang, M. Umar B. Niazi, Michelle S. Chong +2
This paper addresses a fundamental challenge in data-driven reachability analysis: accurately representing and propagating non-convex reachable sets. We propose a novel approach us…
eess.SY2025
Secure Set-based State Estimation for Safety-Critical Applications under Adversarial Attacks on Sensors
M. Umar B. Niazi, Michelle S. Chong, Amr Alanwar +1
Set-based state estimation provides guaranteed state inclusion certificates that are crucial for the safety verification of dynamical systems. However, when system sensors are subj…
cs.RO2024
Non-Conservative Obstacle Avoidance for Multi-Body Systems Leveraging Convex Hulls and Predicted Closest Points
Lotte Rassaerts, Eke Suichies, Bram van de Vrande +4
This paper introduces a novel approach that integrates future closest point predictions into the distance constraints of a collision avoidance controller, leveraging convex hulls w…