The safety filter: A unified view of safety-critical control in autonomous systems
Recent years have seen significant progress in the realm of robot autonomy, accompanied
by the expanding reach of robotic technologies. However, the emergence of new …
by the expanding reach of robotic technologies. However, the emergence of new …
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). HJ Reachability has …
Hamilton-Jacobi (HJ) reachability and Control Barrier Functions (CBFs). HJ Reachability has …
Data-driven safety filters: Hamilton-jacobi reachability, control barrier functions, and predictive methods for uncertain systems
Today's control engineering problems exhibit an unprecedented complexity, with examples
including the reliable integration of renewable energy sources into power grids, safe …
including the reliable integration of renewable energy sources into power grids, safe …
Structdiffusion: Object-centric diffusion for semantic rearrangement of novel objects
Robots operating in human environments must be able to rearrange objects into
semantically-meaningful configurations, even if these objects are previously unseen. In this …
semantically-meaningful configurations, even if these objects are previously unseen. In this …
Learning safe, generalizable perception-based hybrid control with certificates
C Dawson, B Lowenkamp, D Goff… - IEEE Robotics and …, 2022 - ieeexplore.ieee.org
Many robotic tasks require high-dimensional sensors such as cameras and Lidar to navigate
complex environments, but developing certifiably safe feedback controllers around these …
complex environments, but developing certifiably safe feedback controllers around these …
A neural network approach for high-dimensional optimal control applied to multiagent path finding
We propose a neural network (NN) approach that yields approximate solutions for high-
dimensional optimal control (OC) problems and demonstrate its effectiveness using …
dimensional optimal control (OC) problems and demonstrate its effectiveness using …
Ellipsotopes: Uniting ellipsoids and zonotopes for reachability analysis and fault detection
Ellipsoids are a common representation for reachability analysis, because they can be
transformed efficiently under affine maps, and they allow conservative approximation of …
transformed efficiently under affine maps, and they allow conservative approximation of …
Active uncertainty reduction for safe and efficient interaction planning: A shielding-aware dual control approach
The ability to accurately predict others' behavior is central to the safety and efficiency of
robotic systems in interactive settings, such as human–robot interaction and multi-robot …
robotic systems in interactive settings, such as human–robot interaction and multi-robot …
StructDiffusion: Language-guided creation of physically-valid structures using unseen objects
Robots operating in human environments must be able to rearrange objects into
semantically-meaningful configurations, even if these objects are previously unseen. In this …
semantically-meaningful configurations, even if these objects are previously unseen. In this …
Hierarchical motion planning and tracking for autonomous vehicles using global heuristic based potential field and reinforcement learning based predictive control
G Du, Y Zou, X Zhang, Z Li, Q Liu - IEEE Transactions on …, 2023 - ieeexplore.ieee.org
The autonomous vehicle is widely applied in various ground operations, in which motion
planning and tracking control are becoming the key technologies to achieve autonomous …
planning and tracking control are becoming the key technologies to achieve autonomous …