RTD-RAX: Fast, Safe Trajectory Planning for Systems under Unknown Disturbances
Fuente:
arXiv
Salvato in:
| Autori principali: | , , , |
|---|---|
| Natura: | Preprint |
| Pubblicazione: |
2026
|
| Soggetti: | |
| Accesso online: | |
| Tags: |
Aggiungi Tag
Nessun Tag, puoi essere il primo ad aggiungerne!!
|
| _version_ | 1866912978482233344 |
|---|---|
| author | Morales-Cuadrado, Evanns Chung, Long Kiu Kousik, Shreyas Coogan, Samuel |
| author_facet | Morales-Cuadrado, Evanns Chung, Long Kiu Kousik, Shreyas Coogan, Samuel |
| contents | Reachability-based Trajectory Design (RTD) is a provably safe, real-time trajectory planning framework that combines offline reachable-set computation with online trajectory optimization. However, standard RTD implementations suffer from two key limitations: conservatism induced by worst-case reachable-set overapproximations, and an inability to account for real-time disturbances during execution. This paper presents RTD-RAX, a runtime-assurance extension of RTD that utilizes a non-conservative RTD formulation to rapidly generate goal-directed candidate trajectories, and utilizes mixed monotone reachability for fast, disturbance-aware online safety certification. When proposed trajectories fail safety certification under real-time uncertainty, a repair procedure finds nearby safe trajectories that preserve progress toward the goal while guaranteeing safety under real-time disturbances. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_21635 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | RTD-RAX: Fast, Safe Trajectory Planning for Systems under Unknown Disturbances Morales-Cuadrado, Evanns Chung, Long Kiu Kousik, Shreyas Coogan, Samuel Robotics Systems and Control Reachability-based Trajectory Design (RTD) is a provably safe, real-time trajectory planning framework that combines offline reachable-set computation with online trajectory optimization. However, standard RTD implementations suffer from two key limitations: conservatism induced by worst-case reachable-set overapproximations, and an inability to account for real-time disturbances during execution. This paper presents RTD-RAX, a runtime-assurance extension of RTD that utilizes a non-conservative RTD formulation to rapidly generate goal-directed candidate trajectories, and utilizes mixed monotone reachability for fast, disturbance-aware online safety certification. When proposed trajectories fail safety certification under real-time uncertainty, a repair procedure finds nearby safe trajectories that preserve progress toward the goal while guaranteeing safety under real-time disturbances. |
| title | RTD-RAX: Fast, Safe Trajectory Planning for Systems under Unknown Disturbances |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2603.21635 |