Copertina

DualGuard MPPI: Safe and Performant Optimal Control by Combining Sampling-Based MPC and Hamilton-Jacobi Reachability

Fuente: arXiv

Salvato in:

Dettagli Bibliografici
Autori principali:	Borquez, Javier, Raus, Luke, Ciftci, Yusuf Umut, Bansal, Somil
Natura:	Preprint
Pubblicazione:	2025
Soggetti:	Systems and Control Robotics
Accesso online:	Acceder al recurso
Tags:	Aggiungi Tag Nessun Tag, puoi essere il primo ad aggiungerne!!

Documenti analoghi

On Safety and Liveness Filtering Using Hamilton-Jacobi Reachability Analysis
di: Borquez, Javier, et al.
Pubblicazione: (2023)

Hamilton-Jacobi Reachability Analysis for Hybrid Systems with Controlled and Forced Transitions
di: Borquez, Javier, et al.
Pubblicazione: (2023)

Safe and Performant Deployment of Autonomous Systems via Model Predictive Control and Hamilton-Jacobi Reachability Analysis
di: Wang, Hao, et al.
Pubblicazione: (2025)

Robust Verification of Controllers under State Uncertainty via Hamilton-Jacobi Reachability Analysis
di: Lin, Albert, et al.
Pubblicazione: (2025)

Parameter-Conditioned Reachable Sets for Updating Safety Assurances Online
di: Borquez, Javier, et al.
Pubblicazione: (2022)

Safety-Aware Imitation Learning via MPC-Guided Disturbance Injection
di: Qiu, Le, et al.
Pubblicazione: (2025)

SAFE-GIL: SAFEty Guided Imitation Learning for Robotic Systems
di: Ciftci, Yusuf Umut, et al.
Pubblicazione: (2024)

Providing Safety Assurances for Systems with Unknown Dynamics
di: Wang, Hao, et al.
Pubblicazione: (2024)

Unsupervised Discovery of Failure Taxonomies from Deployment Logs
di: Gupta, Aryaman, et al.
Pubblicazione: (2025)

Bridging Model Predictive Control and Deep Learning for Scalable Reachability Analysis
di: Feng, Zeyuan, et al.
Pubblicazione: (2025)

Neural Backward Reach-Avoid Tubes with MPC Supervision for High-Dimensional Systems: An Application to Safe Spacecraft Docking
di: Thorup, Santiago, et al.
Pubblicazione: (2026)

Exact Imposition of Safety Boundary Conditions in Neural Reachable Tubes
di: Singh, Aditya, et al.
Pubblicazione: (2024)

Verification of Neural Reachable Tubes via Scenario Optimization and Conformal Prediction
di: Lin, Albert, et al.
Pubblicazione: (2023)

Patching Approximately Safe Value Functions Leveraging Local Hamilton-Jacobi Reachability Analysis
di: Tonkens, Sander, et al.
Pubblicazione: (2023)

A Physics-Informed Machine Learning Framework for Safe and Optimal Control of Autonomous Systems
di: Tayal, Manan, et al.
Pubblicazione: (2025)

Discovering Closed-Loop Failures of Vision-Based Controllers via Reachability Analysis
di: Chakraborty, Kaustav, et al.
Pubblicazione: (2022)

Hamilton--Jacobi Reachability for Spacecraft Collision Avoidance
di: Hui, Larry, et al.
Pubblicazione: (2026)

Cooptimizing Safety and Performance with a Control-Constrained Formulation
di: Wang, Hao, et al.
Pubblicazione: (2024)

Reachability Barrier Networks: Learning Hamilton-Jacobi Solutions for Smooth and Flexible Control Barrier Functions
di: Kim, Matthew, et al.
Pubblicazione: (2025)

An Efficient Reachability-Based Framework for Provably Safe Autonomous Navigation in Unknown Environments
di: Bajcsy, Andrea, et al.
Pubblicazione: (2019)

Stable-BC: Controlling Covariate Shift with Stable Behavior Cloning
di: Mehta, Shaunak A., et al.
Pubblicazione: (2024)

Hamilton-Jacobi Reachability in Reinforcement Learning: A Survey
di: Ganai, Milan, et al.
Pubblicazione: (2024)

Contingency-Aware Planning via Certified Neural Hamilton-Jacobi Reachability
di: Muenprasitivej, Kasidit, et al.
Pubblicazione: (2026)

Threshold Strategy for Leaking Corner-Free Hamilton-Jacobi Reachability with Decomposed Computations
di: He, Chong, et al.
Pubblicazione: (2025)

Parameterized Fast and Safe Tracking (FaSTrack) using Deepreach
di: Jeong, Hyun Joe, et al.
Pubblicazione: (2024)

MADR: MPC-guided Adversarial DeepReach
di: Teoh, Ryan, et al.
Pubblicazione: (2025)

Guaranteed Completion of Complex Tasks via Temporal Logic Trees and Hamilton-Jacobi Reachability
di: Jiang, Frank J., et al.
Pubblicazione: (2024)

Manifold-constrained Hamilton-Jacobi Reachability Learning for Decentralized Multi-Agent Motion Planning
di: Chen, Qingyi, et al.
Pubblicazione: (2025)

Cooptimizing Safety and Performance Using Safety Value-Constrained Model Predictive Control
di: Wang, Hao, et al.
Pubblicazione: (2026)

Enhancing Safety and Robustness of Vision-Based Controllers via Reachability Analysis
di: Chakraborty, Kaustav, et al.
Pubblicazione: (2024)

NeuroHJR: Hamilton-Jacobi Reachability-based Obstacle Avoidance in Complex Environments with Physics-Informed Neural Networks
di: Halder, Granthik, et al.
Pubblicazione: (2025)

Safety Evaluation of Motion Plans Using Trajectory Predictors as Forward Reachable Set Estimators
di: Chakraborty, Kaustav, et al.
Pubblicazione: (2025)

Towards Efficient MPPI Trajectory Generation with Unscented Guidance: U-MPPI Control Strategy
di: Mohamed, Ihab S., et al.
Pubblicazione: (2023)

Gauss-Newton accelerated MPPI Control
di: Homburger, Hannes, et al.
Pubblicazione: (2025)

Manifold-Constrained MPPI: Real-Time Sampling-Based Control Under Hard Constraints
di: Lee, Seulchan, et al.
Pubblicazione: (2026)

Gait Switching and Enhanced Stabilization of Walking Robots with Deep Learning-based Reachability: A Case Study on Two-link Walker
di: Xia, Xingpeng, et al.
Pubblicazione: (2024)

DBaS-Log-MPPI: Efficient and Safe Trajectory Optimization via Barrier States
di: Wang, Fanxin, et al.
Pubblicazione: (2025)

Safe Large-Scale Robust Nonlinear MPC in Milliseconds via Reachability-Constrained System Level Synthesis on the GPU
di: Fang, Jeffrey, et al.
Pubblicazione: (2026)

Koopman-Hopf Hamilton-Jacobi Reachability and Control
di: Sharpless, Will, et al.
Pubblicazione: (2023)

Detecting and Mitigating System-Level Anomalies of Vision-Based Controllers
di: Gupta, Aryaman, et al.
Pubblicazione: (2023)