Hamilton-jacobi reachability: A brief overview and recent advances
Hamilton-Jacobi (HJ) reachability analysis is an important formal verification method for
guaranteeing performance and safety properties of dynamical systems; it has been applied …
guaranteeing performance and safety properties of dynamical systems; it has been applied …
Hamilton–jacobi reachability: Some recent theoretical advances and applications in unmanned airspace management
Autonomous systems are becoming pervasive in everyday life, and many of these systems
are complex and safety-critical. Formal verification is important for providing performance …
are complex and safety-critical. Formal verification is important for providing performance …
Fastrack: a modular framework for real-time motion planning and guaranteed safe tracking
Real-time, guaranteed safe trajectory planning is vital for navigation in unknown
environments. However, real-time navigation algorithms typically sacrifice robustness for …
environments. However, real-time navigation algorithms typically sacrifice robustness for …
Robust tracking with model mismatch for fast and safe planning: an sos optimization approach
In the pursuit of real-time motion planning, a commonly adopted practice is to compute
trajectories by running a planning algorithm on a simplified, low-dimensional dynamical …
trajectories by running a planning algorithm on a simplified, low-dimensional dynamical …
Distributed motion coordination for multirobot systems under LTL specifications
P Yu, DV Dimarogonas - IEEE Transactions on Robotics, 2021 - ieeexplore.ieee.org
This article investigates the online motion coordination problem for a group of mobile robots
moving in a shared workspace, each of which is assigned a linear temporal logic …
moving in a shared workspace, each of which is assigned a linear temporal logic …
Dlsc: Distributed multi-agent trajectory planning in maze-like dynamic environments using linear safe corridor
This article presents an online distributed trajectory planning algorithm for a quadrotor
swarm in a maze-like dynamic environment. We utilize a dynamic linear safe corridor to …
swarm in a maze-like dynamic environment. We utilize a dynamic linear safe corridor to …
Impacts of constrained sensing and communication based attacks on vehicular platoons
Vehicular platooning promises to bring a faster, safer, and more efficient transportation.
Automated platooned vehicles will rely on information obtained from inter-vehicle …
Automated platooned vehicles will rely on information obtained from inter-vehicle …
Hamilton-jacobi reachability in reinforcement learning: A survey
Recent literature has proposed approaches that learn control policies with high performance
while maintaining safety guarantees. Synthesizing Hamilton-Jacobi (HJ) reachable sets has …
while maintaining safety guarantees. Synthesizing Hamilton-Jacobi (HJ) reachable sets has …
Efficient and guaranteed-safe non-convex trajectory optimization with constrained diffusion model
Trajectory optimization in robotics poses a challenging non-convex problem due to complex
dynamics and environmental settings. Traditional numerical optimization methods are time …
dynamics and environmental settings. Traditional numerical optimization methods are time …
Optimal Deceptive Strategy Synthesis for Autonomous Systems under Asymmetric Information
P Lv, S Li, X Yin - IEEE Transactions on Intelligent Vehicles, 2024 - ieeexplore.ieee.org
High-level task planning under adversarial environments is one of the central problems in
the development of autonomous systems such as unmanned ground vehicles (UGV) …
the development of autonomous systems such as unmanned ground vehicles (UGV) …