Research paper
Unknown-environment navigation · Updating reachability while sensing
The method updates Hamilton–Jacobi safety analysis while an autonomous system senses an initially unknown environment. The authors report planner- and mapping-sensor-independent protection around a vision-based learned planner in simulation and hardware.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- An Efficient Reachability-Based Framework for Provably Safe Autonomous Navigation in Unknown Environments
- Publisher
- IEEE
- Authors
- Andrea Bajcsy, Somil Bansal, Eli Bronstein, Varun Tolani, Claire J. Tomlin
- DOI
- 10.1109/cdc40024.2019.9030133
- Publication date
- 2019-12
- Source language
- en
- Edition
- 2019 IEEE 58th Conference on Decision and Control (CDC); 2019; DOI 10.1109/cdc40024.2019.9030133
- Access
- Publisher metadata and open author manuscript
- Publication status
- Published
Related resources and engineering notes
Source overview
The method updates Hamilton–Jacobi safety analysis while an autonomous system senses an initially unknown environment. The authors report planner- and mapping-sensor-independent protection around a vision-based learned planner in simulation and hardware.
Use and review
Review covers publication metadata and author abstract. Guarantees depend on dynamics, sensing and environmental assumptions; a new sensor or obstacle setting requires its own validation.
Sources & editions
An Efficient Reachability-Based Framework for Provably Safe Autonomous Navigation in Unknown Environments ↗
IEEE · 2019 IEEE 58th Conference on Decision and Control (CDC); 2019; DOI 10.1109/cdc40024.2019.9030133
CDC 2019 bibliography; author archive abstract https://arxiv.org/abs/1905.00532v1. Registered proceedings date 2019-12 retained.