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Found 6 papers, 1 papers with code
A Forward Reachability Perspective on Robust Control Invariance and Discount Factors in Reachability Analysis
We also formulate a zero-sum differential game between the control and disturbance, where the inevitable FRT is characterized by the zero-superlevel set of the value function.
Safe Autonomous Racing via Approximate Reachability on Ego-vision
Given the nature of the task, autonomous agents need to be able to 1) identify and avoid unsafe scenarios under the complex vehicle dynamics, and 2) make sub-second decision in a fast-changing environment.
Robust Control Barrier-Value Functions for Safety-Critical Control
This paper works towards unifying two popular approaches in the safety control community: Hamilton-Jacobi (HJ) reachability and Control Barrier Functions (CBFs).
Probabilistically Safe Robot Planning with Confidence-Based Human Predictions
In order to safely operate around humans, robots can employ predictive models of human motion.
Planning, Fast and Slow: A Framework for Adaptive Real-Time Safe Trajectory Planning
Motion planning is an extremely well-studied problem in the robotics community, yet existing work largely falls into one of two categories: computationally efficient but with few if any safety guarantees, or able to give stronger guarantees but at high computational cost.
Systems and Control Computer Science and Game Theory
FaSTrack: a Modular Framework for Fast and Guaranteed Safe Motion Planning
We propose a new algorithm FaSTrack: Fast and Safe Tracking for High Dimensional systems.
Robotics
