Adding a Hamilton-Jacobi reachability safety value as a terminal constraint in model predictive control makes the controller recursively feasible and reduces safety violations in car and robot arm simulations.
On safety and liveness filtering using hamilton-jacobi reachability analysis
1 Pith paper cite this work. Polarity classification is still indexing.
1
Pith paper citing it
fields
cs.RO 1years
2025 1verdicts
CONDITIONAL 1representative citing papers
citing papers explorer
-
Safe and Performant Deployment of Autonomous Systems via Model Predictive Control and Hamilton-Jacobi Reachability Analysis
Adding a Hamilton-Jacobi reachability safety value as a terminal constraint in model predictive control makes the controller recursively feasible and reduces safety violations in car and robot arm simulations.