Search Results - "Herbert, Sylvia L."

Decomposition of Reachable Sets and Tubes for a Class of Nonlinear Systems by Chen, Mo, Herbert, Sylvia L., Vashishtha, Mahesh S., Bansal, Somil, Tomlin, Claire J.

“…Reachability analysis provides formal guarantees for performance and safety properties of nonlinear control systems. Here, one aims to compute the backward…”
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FaSTrack:A Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking by Chen, Mo, Herbert, Sylvia L., Hu, Haimin, Pu, Ye, Fisac, Jaime Fernandez, Bansal, Somil, Han, SooJean, Tomlin, Claire J.

“…Real-time, guaranteed safe trajectory planning is vital for navigation in unknown environments. However, real-time navigation algorithms typically sacrifice…”
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Confidence-aware motion prediction for real-time collision avoidance1 by Fridovich-Keil, David, Bajcsy, Andrea, Fisac, Jaime F, Herbert, Sylvia L, Wang, Steven, Dragan, Anca D, Tomlin, Claire J

“…One of the most difficult challenges in robot motion planning is to account for the behavior of other moving agents, such as humans. Commonly, practitioners…”
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Robust Control Barrier-Value Functions for Safety-Critical Control by Choi, Jason J., Lee, Donggun, Sreenath, Koushil, Tomlin, Claire J., Herbert, Sylvia L.

“…This paper works towards unifying two popular approaches in the safety control community: Hamilton-Jacobi (HJ) reachability and Control Barrier Functions…”
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Hamilton-Jacobi Reachability in Reinforcement Learning: A Survey by Ganai, Milan, Gao, Sicun, Herbert, Sylvia L.

“…Recent literature has proposed approaches that learn control policies with high performance while maintaining safety guarantees. Synthesizing Hamilton-Jacobi…”
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Reachability-Based Safety Guarantees using Efficient Initializations by Herbert, Sylvia L., Bansal, Somil, Ghosh, Shromona, Tomlin, Claire J.

“…Hamilton-Jacobi-Isaacs (HJI) reachability analysis is a powerful tool for analyzing the safety of autonomous systems. This analysis is computationally…”
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A Scalable Framework For Real-Time Multi-Robot, Multi-Human Collision Avoidance by Bajcsy, Andrea, Herbert, Sylvia L., Fridovich-Keil, David, Fisac, Jaime F., Deglurkar, Sampada, Dragan, Anca D., Tomlin, Claire J.

“…Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of…”
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Confidence-aware motion prediction for real-time collision avoidance 1 by Fridovich-Keil, David, Bajcsy, Andrea, Fisac, Jaime F, Herbert, Sylvia L, Wang, Steven, Dragan, Anca D, Tomlin, Claire J

“…One of the most difficult challenges in robot motion planning is to account for the behavior of other moving agents, such as humans. Commonly, practitioners…”
Get full text

FaSTrack: A modular framework for fast and guaranteed safe motion planning by Herbert, Sylvia L., Mo Chen, SooJean Han, Bansal, Somil, Fisac, Jaime F., Tomlin, Claire J.

“…Fast and safe navigation of dynamical systems through a priori unknown cluttered environments is vital to many applications of autonomous systems. However,…”
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Planning, Fast and Slow: A Framework for Adaptive Real-Time Safe Trajectory Planning by Fridovich-Keil, David, Herbert, Sylvia L., Fisac, Jaime F., Deglurkar, Sampada, Tomlin, Claire J.

“…Motion planning is an extremely well-studied problem in the robotics community, yet existing work largely falls into one of two categories: computationally…”
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A Forward Reachability Perspective on Robust Control Invariance and Discount Factors in Reachability Analysis by Choi, Jason J, Lee, Donggun, Li, Boyang, How, Jonathan P, Sreenath, Koushil, Herbert, Sylvia L, Tomlin, Claire J

“…Control invariant sets are crucial for various methods that aim to design safe control policies for systems whose state constraints must be satisfied over an…”
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Safe Autonomous Racing via Approximate Reachability on Ego-vision by Chen, Bingqing, Francis, Jonathan, Oh, Jean, Nyberg, Eric, Herbert, Sylvia L

“…Racing demands each vehicle to drive at its physical limits, when any safety infraction could lead to catastrophic failure. In this work, we study the problem…”
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Robust Control Barrier-Value Functions for Safety-Critical Control by Choi, Jason J, Lee, Donggun, Sreenath, Koushil, Tomlin, Claire J, Herbert, Sylvia L

“…This paper works towards unifying two popular approaches in the safety control community: Hamilton-Jacobi (HJ) reachability and Control Barrier Functions…”
Get full text

FaSTrack: a Modular Framework for Fast and Guaranteed Safe Motion Planning by Herbert, Sylvia L, Chen, Mo, Han, SooJean, Bansal, Somil, Fisac, Jaime F, Tomlin, Claire J

“…Fast and safe navigation of dynamical systems through a priori unknown cluttered environments is vital to many applications of autonomous systems. However,…”
Get full text

Reachability-Based Safety Guarantees using Efficient Initializations by Herbert, Sylvia L, Ghosh, Shromona, Bansal, Somil, Tomlin, Claire J

“…Hamilton-Jacobi-Isaacs (HJI) reachability analysis is a powerful tool for analyzing the safety of autonomous systems. This analysis is computationally…”
Get full text

FaSTrack: a Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking by Chen, Mo, Herbert, Sylvia L, Hu, Haimin, Pu, Ye, Fisac, Jaime F, Bansal, Somil, Han, SooJean, Tomlin, Claire J

“…Real-time, guaranteed safe trajectory planning is vital for navigation in unknown environments. However, real-time navigation algorithms typically sacrifice…”
Get full text

Robust Tracking with Model Mismatch for Fast and Safe Planning: an SOS Optimization Approach by Singh, Sumeet, Chen, Mo, Herbert, Sylvia L, Tomlin, Claire J, Pavone, Marco

“…In the pursuit of real-time motion planning, a commonly adopted practice is to compute a trajectory by running a planning algorithm on a simplified,…”
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A Scalable Framework For Real-Time Multi-Robot, Multi-Human Collision Avoidance by Bajcsy, Andrea, Herbert, Sylvia L, Fridovich-Keil, David, Fisac, Jaime F, Deglurkar, Sampada, Dragan, Anca D, Tomlin, Claire J

“…Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of…”
Get full text

Planning, Fast and Slow: A Framework for Adaptive Real-Time Safe Trajectory Planning by Fridovich-Keil, David, Herbert, Sylvia L, Fisac, Jaime F, Deglurkar, Sampada, Tomlin, Claire J

“…Motion planning is an extremely well-studied problem in the robotics community, yet existing work largely falls into one of two categories: computationally…”
Get full text

Probabilistically Safe Robot Planning with Confidence-Based Human Predictions by Fisac, Jaime F, Bajcsy, Andrea, Herbert, Sylvia L, Fridovich-Keil, David, Wang, Steven, Tomlin, Claire J, Dragan, Anca D

“…In order to safely operate around humans, robots can employ predictive models of human motion. Unfortunately, these models cannot capture the full complexity…”
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