Feb. 9, 2024, 5:42 a.m. | Will Lavanakul Jason J. Choi Koushil Sreenath Claire J. Tomlin

cs.LG updates on arXiv.org arxiv.org

Learning-based approaches are emerging as an effective approach for safety filters for black-box dynamical systems. Existing methods have relied on certificate functions like Control Barrier Functions (CBFs) and Hamilton-Jacobi (HJ) reachability value functions. The primary motivation for our work is the recognition that ultimately, enforcing the safety constraint as a control input constraint at each state is what matters. By focusing on this constraint, we can eliminate dependence on any specific certificate function-based design. To achieve this, we define a …

box control cs.lg filters functions hamilton motivation recognition safety systems value work

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