Despite the impressive recent advances in learning-based robot control, ensuring
robustness to out-of-distribution conditions remains an open challenge. Safety filters can, in …

While robust optimal control theory provides a rigorous framework to compute robot control
policies that are provably safe, it struggles to scale to high-dimensional problems, leading to …

This letter presents identities for calculating robust successor and precursor sets of discrete-
time linear hybrid systems. The proposed technique relies on generating a set containing all …

This paper presents identities for calculating over-approximated successor sets of discrete-
time nonlinear systems using hybrid zonotopes. The proposed technique extends the state …

We develop a self-supervised learning method that can predict safe and unsafe high-level
waypoints for robot navigation in the form of a decision boundary given solely a RGB image …

Ensuring the safe operation of legged robots in uncertain, novel environments is crucial to
their widespread adoption. Despite recent advances in safety filters that can keep arbitrary …

This paper proposes methods for reachability analysis of nonlinear systems in both open
loop and closed loop with advanced controllers. The methods combine hybrid zonotopes, a …

Reachable sets are used to evaluate system performance and ensure constraint satisfaction
in safety-critical applications while accounting for the effects of input, disturbance, and …

As automated vehicle technology advances, measures for their safe containment become
increasingly important. To this end, geofencing is a prominent alternative as a fundamental …