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09/19/2023
Hamilton-Jacobi Reachability Analysis for Hybrid Systems with Controlled and Forced Transitions
Hybrid dynamical systems with non-linear dynamics are one of the most ge...
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11/04/2022
Discovering Closed-Loop Failures of Vision-Based Controllers via Reachability Analysis
Machine learning driven image-based controllers allow robotic systems to...
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10/03/2022
Online Update of Safety Assurances Using Confidence-Based Predictions
Robots such as autonomous vehicles and assistive manipulators are increa...
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09/29/2022
Parameter-Conditioned Reachable Sets for Updating Safety Assurances Online
Hamilton-Jacobi (HJ) reachability analysis is a powerful tool for analyz...
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09/25/2022
Generating Formal Safety Assurances for High-Dimensional Reachability
Providing formal safety and performance guarantees for autonomous system...
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01/21/2022
Computation of Regions of Attraction for Hybrid Limit Cycles Using Reachability: An Application to Walking Robots
Contact-rich robotic systems, such as legged robots and manipulators, ar...
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02/14/2021
FaSTrack: a Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking
Real-time, guaranteed safe trajectory planning is vital for navigation i...
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11/04/2020
DeepReach: A Deep Learning Approach to High-Dimensional Reachability
Hamilton-Jacobi (HJ) reachability analysis is an important formal verifi...
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03/20/2020
Visual Navigation Among Humans with Optimal Control as a Supervisor
Real world navigation requires robots to operate in unfamiliar, dynamic ...
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12/20/2019
Generating Robust Supervision for Learning-Based Visual Navigation Using Hamilton-Jacobi Reachability
In Bansal et al. (2019), a novel visual navigation framework that combin...
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10/29/2019
A Hamilton-Jacobi Reachability-Based Framework for Predicting and Analyzing Human Motion for Safe Planning
Real-world autonomous systems often employ probabilistic predictive mode...
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09/12/2019
Closed-loop Model Selection for Kernel-based Models using Bayesian Optimization
Kernel-based nonparametric models have become very attractive for model-...
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05/01/2019
An Efficient Reachability-Based Framework for Provably Safe Autonomous Navigation in Unknown Environments
Real-world autonomous vehicles often operate in a priori unknown environ...
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03/06/2019
Combining Optimal Control and Learning for Visual Navigation in Novel Environments
Model-based control is a popular paradigm for robot navigation because i...
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02/27/2019
A New Simulation Metric to Determine Safe Environments and Controllers for Systems with Unknown Dynamics
We consider the problem of extracting safe environments and controllers ...
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02/14/2018
Context-Specific Validation of Data-Driven Models
With an increasing use of data-driven models to control robotic systems,...
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09/10/2017