Control Lyapunov Functions (CLFs) have been extensively used in the control community. A
well-known drawback is the absence of a systematic way to construct CLFs for general …

In this work, we propose an approach for ensuring the safety of vehicles passing through an
intelligent intersection. There are many proposals for the design of intelligent intersections …

In this paper, we present an approach for guaranteeing the completion of complex tasks with
cyber-physical systems (CPS). Specifically, we leverage temporal logic trees constructed …

Deep Reinforcement Learning (RL) has shown remarkable success in robotics with complex
and heterogeneous dynamics. However, its vulnerability to unknown disturbances and …

In this paper, we improve the dynamic programming based reachable set computation
method by replacing the constant size grid in the original method with a variable size grid …

As the dimension of a system increases, traditional methods for control and differential
games rapidly become intractable, making the design of safe autonomous agents …

Hamilton-Jacobi (HJ) reachability analysis is a widely adopted verification tool to provide
safety and performance guarantees for autonomous systems. However, it involves solving a …

Real-time navigation in a priori unknown environment remains a challenging task,
especially when an unexpected (unmodeled) disturbance occurs. In this letter, we propose …

Hamilton-Jacobi Reachability (HJR) is a popular method for analyzing the liveness and
safety of a dynamical system with bounded control and disturbance. The corresponding HJ …

This paper investigates performance guarantees on coverage-based ergodic exploration
methods in environments containing disturbances. Ergodic exploration methods generate …