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FaSTrack: a Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking
IEEE Transactions on Automatic Control (IEEE TAC), 2021
14 February 2021
Mo Chen
Sylvia Herbert
Haimin Hu
Ye Pu
J. F. Fisac
Somil Bansal
Soojean Han
Claire Tomlin
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Papers citing
"FaSTrack: a Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking"
32 / 32 papers shown
From Data to Safe Mobile Robot Navigation: An Efficient and Modular Robust MPC Design Pipeline
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Johannes Köhler
Robert Babuška
Javier Alonso-Mora
L. Ferranti
118
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09 Aug 2025
Dynamic Safety in Complex Environments: Synthesizing Safety Filters with Poisson's Equation
Robotics (RAS), 2025
Gilbert Bahati
Ryan M. Bena
Aaron D. Ames
261
5
0
11 May 2025
Certified Approximate Reachability (CARe): Formal Error Bounds on Deep Learning of Reachable Sets
Prashant Solanki
Nikolaus Vertovec
Yannik Schnitzer
Jasper J. van Beers
Coen de Visser
Alessandro Abate
187
2
0
31 Mar 2025
Soft Actor-Critic-based Control Barrier Adaptation for Robust Autonomous Navigation in Unknown Environments
IEEE International Conference on Robotics and Automation (ICRA), 2025
Nicholas Mohammad
Nicola Bezzo
236
3
0
11 Mar 2025
Safety-Critical Controller Synthesis with Reduced-Order Models
American Control Conference (ACC), 2024
Max H. Cohen
Noel Csomay-Shanklin
William D. Compton
Tamás G. Molnár
Aaron D. Ames
247
8
0
25 Nov 2024
Bezier Reachable Polytopes: Efficient Certificates for Robust Motion Planning with Layered Architectures
American Control Conference (ACC), 2024
Noel Csomay-Shanklin
Aaron D. Ames
265
1
0
20 Nov 2024
Interaction-Aware Trajectory Prediction for Safe Motion Planning in Autonomous Driving: A Transformer-Transfer Learning Approach
Jinhao Liang
Chaopeng Tan
Longhao Yan
Jingyuan Zhou
Guodong Yin
Kaidi Yang
180
19
0
03 Nov 2024
Terrain-Aware Model Predictive Control of Heterogeneous Bipedal and Aerial Robot Coordination for Search and Rescue Tasks
IEEE International Conference on Robotics and Automation (ICRA), 2024
Abdulaziz Shamsah
Jesse Jiang
Ziwon Yoon
Samuel Coogan
Ye Zhao
191
6
0
23 Sep 2024
Embedded Hierarchical MPC for Autonomous Navigation
Dennis Benders
Johannes Köhler
Thijs Niesten
Robert Babuška
Javier Alonso-Mora
Laura Ferranti
440
9
0
17 Jun 2024
ZAPP! Zonotope Agreement of Prediction and Planning for Continuous-Time Collision Avoidance with Discrete-Time Dynamics
Luca Paparusso
Shreyas Kousik
Edward Schmerling
Francesco Braghin
Marco Pavone
210
3
0
03 Jun 2024
Optimizing Sensor Network Design for Multiple Coverage
Lukas Taus
Yen-Hsi Richard Tsai
AAML
156
0
0
15 May 2024
A Differentiable Dynamic Modeling Approach to Integrated Motion Planning and Actuator Physical Design for Mobile Manipulators
Zehui Lu
Yebin Wang
241
5
0
01 May 2024
Safe Returning FaSTrack with Robust Control Lyapunov-Value Functions
IEEE Control Systems Letters (L-CSS), 2024
Zheng Gong
Boyang Li
Sylvia Herbert
115
0
0
03 Apr 2024
Goal-Reaching Trajectory Design Near Danger with Piecewise Affine Reach-avoid Computation
Long Kiu Chung
Wonsuhk Jung
Chuizheng Kong
Shreyas Kousik
378
3
0
23 Feb 2024
Who Plays First? Optimizing the Order of Play in Stackelberg Games with Many Robots
Haimin Hu
Gabriele Dragotto
Zixu Zhang
Kaiqu Liang
Bartolomeo Stellato
J. F. Fisac
341
5
0
14 Feb 2024
Learning Predictive Safety Filter via Decomposition of Robust Invariant Set
Zeyang Li
Chuxiong Hu
Weiye Zhao
Changliu Liu
237
7
0
12 Nov 2023
Fast Path Planning for Autonomous Vehicle Parking with Safety-Guarantee using Hamilton-Jacobi Reachability
Xuemin Chi
Jun Zeng
Jihao Huang
Zhitao Liu
Hongye Su
210
1
0
21 Oct 2023
Efficient and robust Sensor Placement in Complex Environments
Lukas Taus
Yen-Hsi Richard Tsai
AAML
117
0
0
15 Sep 2023
The Safety Filter: A Unified View of Safety-Critical Control in Autonomous Systems
Kai-Chieh Hsu
Haimin Hu
J. F. Fisac
301
129
0
11 Sep 2023
Autonomous Navigation with Convergence Guarantees in Complex Dynamic Environments
Albin Dahlin
Y. Karayiannidis
149
1
0
21 Jun 2023
Safer Gap: A Gap-based Local Planner for Safe Navigation with Nonholonomic Mobile Robots
Shiyu Feng
Ahmad Abuaish
Patricio A. Vela
101
2
0
14 Mar 2023
Active Uncertainty Reduction for Safe and Efficient Interaction Planning: A Shielding-Aware Dual Control Approach
Haimin Hu
David Isele
S. Bae
J. F. Fisac
287
28
0
01 Feb 2023
Time Governors for Safe Path-Following Control
Ömür Arslan
100
5
0
02 Dec 2022
StructDiffusion: Language-Guided Creation of Physically-Valid Structures using Unseen Objects
Weiyu Liu
Yilun Du
Tucker Hermans
Sonia Chernova
Chris Paxton
DiffM
284
65
0
08 Nov 2022
Learning Minimally-Violating Continuous Control for Infeasible Linear Temporal Logic Specifications
American Control Conference (ACC), 2022
Mingyu Cai
Makai Mann
Zachary Serlin
Kevin J. Leahy
C. Vasile
346
13
0
03 Oct 2022
Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models
Zhongyu Li
Jun Zeng
A. Thirugnanam
Koushil Sreenath
187
20
0
11 May 2022
Safety-guaranteed trajectory planning and control based on GP estimation for unmanned surface vessels
Shuhao Zhang
Yujia Yang
Seth Siriya
Ye Pu
51
0
0
10 May 2022
Data-Driven Safety Verification for Legged Robots
Junhyeok Ahn
S. Bang
Carlos Gonzalez
Yuanchen Yuan
Luis Sentis
156
0
0
24 Feb 2022
Learning Safe, Generalizable Perception-based Hybrid Control with Certificates
IEEE Robotics and Automation Letters (RA-L), 2022
Charles Dawson
Bethany Lowenkamp
D. Goff
Chuchu Fan
238
66
0
04 Jan 2022
KDF: Kinodynamic Motion Planning via Geometric Sampling-based Algorithms and Funnel Control
IEEE Transactions on robotics (TRO), 2021
Christos K. Verginis
Dimos V. Dimarogonas
Lydia E. Kavraki
186
22
0
24 Apr 2021
Guarantees for Real Robotic Systems: Unifying Formal Controller Synthesis and Reachset-Conformant Identification
IEEE Transactions on robotics (TRO), 2021
Stefan B. Liu
B. Schürmann
Matthias Althoff
86
16
0
02 Mar 2021
Online Mapping and Motion Planning under Uncertainty for Safe Navigation in Unknown Environments
IEEE Transactions on Automation Science and Engineering (T-ASE), 2020
Éric Pairet
J. D. Hernández
M. Carreras
Y. Pétillot
Morteza Lahijanian
248
45
0
26 Apr 2020
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