Zobrazeno 1 - 10
of 29
pro vyhledávání: '"Choi, Jason J."'
Autor:
Xia, Xingpeng, Choi, Jason J., Agrawal, Ayush, Sreenath, Koushil, Tomlin, Claire J., Bansal, Somil
Learning-based approaches have recently shown notable success in legged locomotion. However, these approaches often lack accountability, necessitating empirical tests to determine their effectiveness. In this work, we are interested in designing a le
Externí odkaz:
http://arxiv.org/abs/2409.16301
Learning-based approaches are emerging as an effective approach for safety filters for black-box dynamical systems. Existing methods have relied on certificate functions like Control Barrier Functions (CBFs) and Hamilton-Jacobi (HJ) reachability valu
Externí odkaz:
http://arxiv.org/abs/2402.05279
Autor:
Choi, Jason J., Castañeda, Fernando, Jung, Wonsuhk, Zhang, Bike, Tomlin, Claire J., Sreenath, Koushil
As the use of autonomous robots expands in tasks that are complex and challenging to model, the demand for robust data-driven control methods that can certify safety and stability in uncertain conditions is increasing. However, the practical implemen
Externí odkaz:
http://arxiv.org/abs/2311.13824
Autor:
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 indefinite time horizon. In this article, we explore the connections among reachability, con
Externí odkaz:
http://arxiv.org/abs/2310.17180
Autor:
Castañeda, Fernando, Choi, Jason J., Jung, Wonsuhk, Zhang, Bike, Tomlin, Claire J., Sreenath, Koushil
Learning-based control has recently shown great efficacy in performing complex tasks for various applications. However, to deploy it in real systems, it is of vital importance to guarantee the system will stay safe. Control Barrier Functions (CBFs) o
Externí odkaz:
http://arxiv.org/abs/2208.10733
Contact-rich robotic systems, such as legged robots and manipulators, are often represented as hybrid systems. However, the stability analysis and region-of-attraction computation for these systems are often challenging because of the discontinuous s
Externí odkaz:
http://arxiv.org/abs/2201.08538
Control Barrier Functions (CBFs) and Control Lyapunov Functions (CLFs) are popular tools for enforcing safety and stability of a controlled system, respectively. They are commonly utilized to build constraints that can be incorporated in a min-norm q
Externí odkaz:
http://arxiv.org/abs/2106.07108
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 methods for direct construction of value functions that provide safe
Externí odkaz:
http://arxiv.org/abs/2104.02808
Autor:
Herbert, Sylvia, Choi, Jason J., Sanjeev, Suvansh, Gibson, Marsalis, Sreenath, Koushil, Tomlin, Claire J.
Autonomous systems like aircraft and assistive robots often operate in scenarios where guaranteeing safety is critical. Methods like Hamilton-Jacobi reachability can provide guaranteed safe sets and controllers for such systems. However, often these
Externí odkaz:
http://arxiv.org/abs/2101.05916
Autor:
Ting-Wei Hsu1 twhsu@bechamo.com, Choi, Jason J.2, Amin, Divyang3, Tomlin, Claire4, McWherter, Shaun C.5, Piedmonte, Michael6
Publikováno v:
Journal of the American Helicopter Society. Apr2024, Vol. 69 Issue 2, p1-18. 18p.
