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Found 8 papers, 3 papers with code
State-Augmented Linear Games with Antagonistic Error for High-Dimensional, Nonlinear Hamilton-Jacobi Reachability
Namely, we show that with a representation of the true dynamics in the SA space, a series of inequalities confirms that the value of a SA linear game with antagonistic error is a conservative envelope of the true value function.
Conservative Linear Envelopes for Nonlinear, High-Dimensional, Hamilton-Jacobi Reachability
One may then solve the dimension-robust generalized Hopf formula for a linear game with this ``antagonistic error" to perform guaranteed conservative reachability analysis and control synthesis of nonlinear systems; this can be done for problem formulations in which no other HJR method is both computationally feasible and guaranteed.
A Control Approach for Nonlinear Stochastic State Uncertain Systems with Probabilistic Safety Guarantees
We propose a control design approach that first generates a control policy for nonlinear deterministic models with full state observation.
Sequential Neural Barriers for Scalable Dynamic Obstacle Avoidance
There are two major challenges for scaling up robot navigation around dynamic obstacles: the complex interaction dynamics of the obstacles can be hard to model analytically, and the complexity of planning and control grows exponentially in the number of obstacles.
Koopman-Hopf Hamilton-Jacobi Reachability and Control
We find that it significantly out-competes expectation-minimizing and game-theoretic model predictive controllers with the same Koopman linearization in the presence of bounded stochastic disturbance.
A Second-Order Reachable Sets Computation Scheme via a Cauchy-Type Variational Hamilton-Jacobi-Isaacs Equation
Motivated by the scalability limitations of Eulerian methods for variational Hamilton-Jacobi-Isaacs (HJI) formulations that provide a least restrictive controller in problems that involve state or input constraints under a worst-possible disturbance, we introduce a second-order, successive sweep algorithm for computing the zero sublevel sets of a popular reachability value functional.
Scalable Learning of Safety Guarantees for Autonomous Systems using Hamilton-Jacobi Reachability
However, work to learn and update safety analysis is limited to small systems of about two dimensions due to the computational complexity of the analysis.
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 to many small-scale systems in the past decade.
Systems and Control Dynamical Systems Optimization and Control
