8 accepted papers
Reach-Avoid-Stay (RAS) tasks are essential in applications where systems must safely reach a target set and remain within it under all bounded disturbances. Existing approaches either struggle to compute the maximal robust RAS set—the set of all states from which the RAS task is achievable—or are li…
Deformable objects (DOs) are prevalent in everyday environments and represent important targets for robotic manipulation. However, their high degrees of freedom and complex nonlinear deformations make them more challenging to model and control than rigid objects when relying on traditional analytica
Deformable objects(DOs) are prevalent in everyday environments and represent important targets for robotic manipulation. However, their high degrees of freedom and complex nonlinear deformations make them more challenging to model and control than rigid objects when relying on traditional analytical…
We propose a new reachability learning framework for high-dimensional nonlinear systems, focusing on <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">reach-avoid problems</i>. These problems require computing the <italic xmlns:mml="http://www.w3.org/1
Autonomous vehicles (AVs) must share the driving space with other drivers and often employ conservative motion planning strategies to ensure safety. These conservative strategies can negatively impact AV's performance and significantly slow traffic throughput. Therefore, to avoid conservatism, we de…
A key challenge in fast ground robot navigation in 3D terrain is balancing robot speed and safety. Recent work has shown that 2.5D maps (2D representations with additional 3D information) are ideal for real-time safe and fast planning. However, the prevalent approach of generating 2D occupancy grids…
Hamilton-Jacobi (HJ) reachability provides a flexible framework for the verification of safety in robotic systems: it accounts for nonlinear system dynamics and provides safety-preserving controllers. However, computational scalability limits its direct application to systems of less than five conti…
Ensuring safety in trajectory planning of multirotor systems is an essential element for risk-free operation. Even if the generated trajectory is known to be safe in the planning phase, unknown disturbance during an actual operation can lead to a dangerous situation. This paper proposes safety-guara…