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• W2967767199 abstract "Hamilton-Jacobi (HJ) reachability provides a flexible framework for the verification of safety in robotic systems: it accounts for nonlinear system dynamics and provides safety-preserving controllers. However, computational scalability limits its direct application to systems of less than five continuous state dimensions. To alleviate this computational burden, system decomposition methods have been proposed; however, safety guarantees are lost in situations involving “leaking corners which arise when there are conflicting controls between subsystems. In this paper, a coupled HJ formulation is presented, which addresses leaking corners and guarantees safety, while incorporating dimensionality reduction. We demonstrate our method in two examples, one of which is a vehicle obstacle avoidance problem with a 5D car model, whose HJ computation was previously considered to be intractable." @default.
• W2967767199 created "2019-08-22" @default.
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• W2967767199 date "2019-05-01" @default.
• W2967767199 modified "2023-09-26" @default.
• W2967767199 title "Removing Leaking Corners to Reduce Dimensionality in Hamilton-Jacobi Reachability" @default.
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• W2967767199 doi "https://doi.org/10.1109/icra.2019.8793890" @default.
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