A Framework for Online Updates to Safe Sets for Uncertain Dynamics
Jennifer C. Shih,Franziska Meier,Akshara Rai,Jennifer C. Shih,Franziska Meier,Akshara Rai
Safety is crucial for deploying robots in the real world. One way of reasoning about safety of robots is by building safe sets through Hamilton-Jacobi (HJ) reachability. However, safe sets are often computed offline, assuming perfect knowledge of the dynamics, due to high compute time. In the presence of uncertainty, the safe set computed offline becomes inaccurate online, potentially leading to d...
