Hamilton-Jacobi (HJ) reachability analysis is an important formal verification method for
guaranteeing performance and safety properties of dynamical systems; it has been applied …

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 …

Reachability analysis provides formal guarantees for performance and safety properties of
nonlinear control systems. Here, one aims to compute the backward reachable set (BRS) or …

While a number of Lagrangian algorithms to approximate reachability in dozens or even
hundreds of dimensions for systems with linear dynamics have recently appeared in the …

Ensuring the safety of self-driving vehicles is a challenging task, especially if other traffic
participants severely deviate from the predicted behavior. One solution is to ensure that the …

Driving is a social activity which involves endless interactions with other agents on the road.
Failing to locate these agents and predict their possible future actions may result in serious …

This paper presents an algorithm for overapproximating the drivable area of road vehicles in
the presence of time-varying obstacles. The drivable area can be used to detect whether a …

This article investigates the tracking problem of an uncertain-link robot manipulator with
guaranteed safety and performance. To tackle parametric uncertainties, the torque filtering …

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 …

As neural networks (NNs) become more prevalent in safety-critical applications such as
control of vehicles, there is a growing need to certify that systems with NN components are …