Autonomy Talks - Sylvia Herbert: Connections between HJ Reachability Analysis and CBF

Autonomy Talks - 11/01/2022 Speaker: Prof. Sylvia Herbert, UC San Diego Title: Connections between Hamilton-​Jacobi Reachability Analysis and Control Barrier Functions for Safety Analysis Abstract: Two popular approaches for guaranteeing the safe control of nonlinear autonomous sys- tems are Hamilton-Jacobi Reachability Analysis and Control Barrier Functions. Both approaches have been very successful, but have largely been developed independently with different tools and applications. In this talk I will review both approaches and con- nections between the two that have allowed us to work towards merging the theory and tools of both approaches. If you want to know more, please visit our homepage: https://idsc.ethz.ch/research-frazzol...