{"id":"https://openalex.org/W3125460529","doi":"https://doi.org/10.1109/icra48506.2021.9561561","title":"Scalable Learning of Safety Guarantees for Autonomous Systems using Hamilton-Jacobi Reachability","display_name":"Scalable Learning of Safety Guarantees for Autonomous Systems using Hamilton-Jacobi Reachability","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3125460529","doi":"https://doi.org/10.1109/icra48506.2021.9561561","mag":"3125460529"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561561","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561561","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2101.05916","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5071321544","display_name":"Sylvia Herbert","orcid":"https://orcid.org/0000-0002-3863-8945"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California, San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Sylvia Herbert","raw_affiliation_strings":["University of California\u2014San Diego"],"affiliations":[{"raw_affiliation_string":"University of California\u2014San Diego","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003048470","display_name":"Jason J. Choi","orcid":"https://orcid.org/0000-0002-8223-6855"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jason J. Choi","raw_affiliation_strings":["University of California\u2013Berkeley"],"affiliations":[{"raw_affiliation_string":"University of California\u2013Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019888332","display_name":"Suvansh Sanjeev","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Suvansh Sanjeev","raw_affiliation_strings":["Carnegie Mellon University"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088220405","display_name":"Marsalis Gibson","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marsalis Gibson","raw_affiliation_strings":["University of California\u2013Berkeley"],"affiliations":[{"raw_affiliation_string":"University of California\u2013Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054075105","display_name":"Koushil Sreenath","orcid":"https://orcid.org/0000-0002-5346-3637"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Koushil Sreenath","raw_affiliation_strings":["University of California\u2013Berkeley"],"affiliations":[{"raw_affiliation_string":"University of California\u2013Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045155646","display_name":"Claire J. Tomlin","orcid":"https://orcid.org/0000-0003-3192-3185"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Claire J. Tomlin","raw_affiliation_strings":["University of California\u2013Berkeley"],"affiliations":[{"raw_affiliation_string":"University of California\u2013Berkeley","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5071321544"],"corresponding_institution_ids":["https://openalex.org/I36258959"],"apc_list":null,"apc_paid":null,"fwci":0.5592,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.71705945,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"5914","last_page":"5920"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9868999719619751,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9836999773979187,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.9189049005508423},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.7798118591308594},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7512534260749817},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5311583280563354},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.5296069383621216},{"id":"https://openalex.org/keywords/decomposition","display_name":"Decomposition","score":0.47979170083999634},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46724534034729004},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.27924442291259766},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24793818593025208},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.10417968034744263}],"concepts":[{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.9189049005508423},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.7798118591308594},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7512534260749817},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5311583280563354},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5296069383621216},{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.47979170083999634},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46724534034729004},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.27924442291259766},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24793818593025208},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.10417968034744263},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra48506.2021.9561561","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561561","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2101.05916","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2101.05916","pdf_url":"https://arxiv.org/pdf/2101.05916","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2101.05916","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2101.05916","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"},{"id":"mag:3125460529","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":null}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2101.05916","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2101.05916","pdf_url":"https://arxiv.org/pdf/2101.05916","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.7400000095367432}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3125460529.pdf","grobid_xml":"https://content.openalex.org/works/W3125460529.grobid-xml"},"referenced_works_count":49,"referenced_works":["https://openalex.org/W329007756","https://openalex.org/W1502922572","https://openalex.org/W1966195676","https://openalex.org/W1973308526","https://openalex.org/W1975236902","https://openalex.org/W2006859604","https://openalex.org/W2053572490","https://openalex.org/W2077047259","https://openalex.org/W2169520095","https://openalex.org/W2586067474","https://openalex.org/W2616964725","https://openalex.org/W2618318883","https://openalex.org/W2758653969","https://openalex.org/W2891413349","https://openalex.org/W2901136733","https://openalex.org/W2925329277","https://openalex.org/W2952337742","https://openalex.org/W2962902376","https://openalex.org/W2963286335","https://openalex.org/W2963525569","https://openalex.org/W2963606896","https://openalex.org/W2963683522","https://openalex.org/W2964040381","https://openalex.org/W2964340170","https://openalex.org/W2966735560","https://openalex.org/W2968945909","https://openalex.org/W2970362693","https://openalex.org/W2973076431","https://openalex.org/W3007196997","https://openalex.org/W3010970209","https://openalex.org/W3011042361","https://openalex.org/W3026001713","https://openalex.org/W3037366969","https://openalex.org/W3038180127","https://openalex.org/W4231226883","https://openalex.org/W6629804754","https://openalex.org/W6726601795","https://openalex.org/W6733118196","https://openalex.org/W6737893269","https://openalex.org/W6738483526","https://openalex.org/W6747473740","https://openalex.org/W6751535212","https://openalex.org/W6753691991","https://openalex.org/W6755257367","https://openalex.org/W6767081328","https://openalex.org/W6773490554","https://openalex.org/W6775891519","https://openalex.org/W6777398311","https://openalex.org/W6782808837"],"related_works":["https://openalex.org/W3207727352","https://openalex.org/W2942821629","https://openalex.org/W3130337320","https://openalex.org/W3016043625","https://openalex.org/W2900909407","https://openalex.org/W2963525569","https://openalex.org/W3203799149","https://openalex.org/W3185587115","https://openalex.org/W3187984840","https://openalex.org/W2299601289","https://openalex.org/W2962683513","https://openalex.org/W2967193622","https://openalex.org/W3114355749","https://openalex.org/W2564045982","https://openalex.org/W3117478135","https://openalex.org/W2617654331","https://openalex.org/W3214464180","https://openalex.org/W3197465063","https://openalex.org/W2777708059","https://openalex.org/W3122758442"],"abstract_inverted_index":{"Autonomous":[0],"systems":[1,80],"like":[2,17],"aircraft":[3],"and":[4,25,60,72,106,144],"assistive":[5],"robots":[6],"often":[7,31],"operate":[8],"in":[9,149],"scenarios":[10,34],"where":[11],"guaranteeing":[12],"safety":[13,65,74],"is":[14,50,76],"critical.":[15],"Methods":[16],"Hamilton-Jacobi":[18],"reachability":[19],"can":[20,114],"provide":[21],"guaranteed":[22],"safe":[23,116],"sets":[24,117],"controllers":[26],"for":[27,133],"such":[28],"systems.":[29,136],"However,":[30,68],"these":[32,58],"same":[33],"have":[35],"unknown":[36],"or":[37,42,120],"uncertain":[38],"environments,":[39],"system":[40,49],"dynamics,":[41],"predictions":[43],"of":[44,81,90,123],"other":[45],"agents.":[46],"As":[47],"the":[48,87,91],"operating,":[51],"it":[52],"may":[53],"learn":[54,71],"new":[55,111],"knowledge":[56],"about":[57,82],"uncertainties":[59],"should":[61],"therefore":[62],"update":[63,73,115],"its":[64],"analysis":[66,75],"accordingly.":[67],"work":[69],"to":[70,78,86,100],"limited":[77],"small":[79],"two":[83],"dimensions":[84],"due":[85],"computational":[88],"complexity":[89],"analysis.":[92],"In":[93],"this":[94,110,130],"paper":[95],"we":[96,113],"synthesize":[97],"several":[98],"techniques":[99],"speed":[101],"up":[102],"computation:":[103],"decomposition,":[104],"warm-starting,":[105],"adaptive":[107],"grids.":[108],"Using":[109],"framework":[112],"by":[118],"one":[119],"more":[121],"orders":[122],"magnitude":[124],"faster":[125],"than":[126],"prior":[127],"work,":[128],"making":[129],"technique":[131],"practical":[132],"many":[134],"realistic":[135],"We":[137],"demonstrate":[138],"our":[139],"results":[140],"on":[141],"simulated":[142],"2D":[143],"10D":[145],"near-hover":[146],"quadcopters":[147],"operating":[148],"a":[150],"windy":[151],"environment.":[152]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}