Approximation of reachable sets using optimal control algorithms

R Baier, M Gerdts, I Xausa - Numerical Algebra, Control and …, 2013 - aimsciences.org
We investigate and analyze a computational method for the approximation of reachable sets
for nonlinear dynamic systems. The method uses grids to cover the region of interest and the …

Robust motion planning in dynamic environments based on sampled-data hamilton–jacobi reachability

S Kleff, N Li - Robotica, 2020 - cambridge.org
We propose a novel formal approach to robust motion planning (MP) in dynamic
environments based on reachability analysis. While traditional MP methods usually fail to …

A sampled-data hamilton-jacobi reachability approach to safe and robust motion planning

S Kleff, N Li - 2018 Chinese Control And Decision Conference …, 2018 - ieeexplore.ieee.org
Reachability analysis provides safety guarantees for state-constrained control systems,
which makes it an attractive tool to address motion planning problems, but there are still few …

Robust Control of Teleoperated Unmanned Aerial Vehicles

C Han - 2020 - diva-portal.org
In this thesis, we first use the reachability theory to develop algorithms for state prediction
under delayed state or output measurements. We next develop control strategies for …