Zobrazeno 1 - 10
of 17
pro vyhledávání: '"Sylvia L. Herbert"'
Publikováno v:
IEEE Open Journal of Control Systems, Vol 3, Pp 310-324 (2024)
Recent literature has proposed approaches that learn control policies with high performance while maintaining safety guarantees. Synthesizing Hamilton-Jacobi (HJ) reachable sets has become an effective tool for verifying safety and supervising the tr
Externí odkaz:
https://doaj.org/article/f495fb8bd7664fd2bd535d454b6bf6ef
Autor:
Haimin Hu, Ye Pu, Sylvia L. Herbert, Claire J. Tomlin, Somil Bansal, SooJean Han, Jaime F. Fisac, Mo Chen
Publikováno v:
IEEE Transactions on Automatic Control. 66:5861-5876
Real-time, guaranteed safe trajectory planning is vital for navigation in unknown environments. However, real-time navigation algorithms typically sacrifice robustness for computation speed. Alternatively, provably safe trajectory planning tends to b
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::00e843391c8bd94584e25e1a8b4875ab
https://doi.org/10.1109/tac.2021.3059838
https://doi.org/10.1109/tac.2021.3059838
Publikováno v:
2021 60th IEEE Conference on Decision and Control (CDC).
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::0ea582a74e05097ffdf855d530b1036f
https://doi.org/10.1109/cdc45484.2021.9683085
https://doi.org/10.1109/cdc45484.2021.9683085
Autor:
Steven Wang, David Fridovich-Keil, Sylvia L. Herbert, Claire J. Tomlin, Jaime F. Fisac, Andrea Bajcsy, Anca D. Dragan
Publikováno v:
The International Journal of Robotics Research. 39:250-265
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 employ predictive models to reason about where other agents are going to move. Though there h
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::d3eeac6a417940a2e7dae02290b7e256
https://doi.org/10.1177/0278364919859436
https://doi.org/10.1177/0278364919859436
Publikováno v:
Springer Proceedings in Advanced Robotics ISBN: 9783030440503
WAFR
WAFR
In the pursuit of real-time motion planning, a commonly adopted practice is to compute trajectories by running a planning algorithm on a simplified, low-dimensional dynamical model, and then employ a feedback tracking controller that tracks such a tr
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::99d3ca981e24226a9cd837cf2b78a2c9
https://doi.org/10.1007/978-3-030-44051-0_32
https://doi.org/10.1007/978-3-030-44051-0_32
Publikováno v:
IEEE Transactions on Automatic Control. 63:3675-3688
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 tube (BRT) -- the set of states from which the system can be driven int
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::bc233773e15f1a8e96a5a100e2e11e4c
https://doi.org/10.1109/tac.2018.2797194
https://doi.org/10.1109/tac.2018.2797194
Publikováno v:
MASS Workshops
Learning-based control schemes that can preserve safety without overly constricting the learning process are beneficial to ensure safe operation while a robotic system is learning about its environment and to enable the system to update safety guaran
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::d4ab348642a79cb304a287d4064f557e
https://doi.org/10.1109/massw.2019.00023
https://doi.org/10.1109/massw.2019.00023
Publikováno v:
CDC
Hamilton-Jacobi-Isaacs (HJI) reachability analysis is a powerful tool for analyzing the safety of autonomous systems. This analysis is computationally intensive and typically performed offline. Online, however, the autonomous system may experience ch
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::138a6bcf12300966b052bbc3b910710b
http://arxiv.org/abs/1903.07715
http://arxiv.org/abs/1903.07715
Publikováno v:
EasyChair Preprints.
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, low-dimensional dynamical model, and then employ a feedback tracking controller that tracks such a tr
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::9abdc36d209c07ed4b7c0cddec8f7016
https://doi.org/10.29007/43w8
https://doi.org/10.29007/43w8
Autor:
Jaime F. Fisac, Sylvia L. Herbert, David Fridovich-Keil, Claire J. Tomlin, Andrea Bajcsy, Sampada Deglurkar, Anca D. Dragan
Publikováno v:
ICRA
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 other moving agents, such as humans. This paper introduces a novel framework for robot navi
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::a6df7ee5abbd2399e6fce968bae3ce8a
http://arxiv.org/abs/1811.05929
http://arxiv.org/abs/1811.05929