Scalable Learning of Safety Guarantees for Autonomous Systems using Hamilton-Jacobi Reachability
Sylvia Herbert Jason J. Choi Suvansh Sanjeev Marsalis Gibson Koushil Sreenath Claire J. Tomlin Sylvia Herbert Jason J. Choi Suvansh Sanjeev Marsalis Gibson Koushil Sreenath Claire J. Tomlin
Autonomous systems like aircraft and assistive robots often operate in scenarios where guaranteeing safety is critical. Methods like Hamilton-Jacobi reachability can provide guaranteed safe sets and controllers for such systems. However, often these same scenarios have unknown or uncertain environments, system dynamics, or predictions of other agents. As the system is operating, it may learn new k...