Article

Reachability-Learning-Based Safety Representations for Real-Time Robot Navigation in Unknown Dynamic Environments

This dissertation uses offline-trained neural implicit representations to provide the value function from Hamilton-Jacobi (HJ) reachability analysis in real time to optimization-based controllers, addressing the inadequacy of geometric collision checking in unknown dynamic environments.

Part of the event: Research on Real-Time Navigation Safety Representation Based on Reachability Released

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