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FaSTrack: a Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking


Mar 13, 2021
Mo Chen, Sylvia L. Herbert, Haimin Hu, Ye Pu, Jaime F. Fisac, Somil Bansal, SooJean Han, Claire J. Tomlin

* Published in the IEEE Transactions on Automatic Control 

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Real-Time Formal Verification of Autonomous Systems With An FPGA


Dec 07, 2020
Minh Bui, Michael Lu, Reza Hojabr, Mo Chen, Arrvindh Shriraman


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On Infusing Reachability-Based Safety Assurance within Planning Frameworks for Human-Robot Vehicle Interactions


Dec 06, 2020
Karen Leung, Edward Schmerling, Mengxuan Zhang, Mo Chen, John Talbot, J. Christian Gerdes, Marco Pavone

* International Journal of Robotics Research, vol. 39, no. 10-11, pp. 1326--1345, 2020 
* arXiv admin note: text overlap with arXiv:1812.11315 

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Prediction-Based Reachability for Collision Avoidance in Autonomous Driving


Nov 24, 2020
Anjian Li, Liting Sun, Wei Zhan, Masayoshi Tomizuka, Mo Chen


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LBGP: Learning Based Goal Planning for Autonomous Following in Front


Nov 05, 2020
Payam Nikdel, Richard Vaughan, Mo Chen


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MBVI: Model-Based Value Initialization for Reinforcement Learning


Nov 04, 2020
Xubo Lyu, Site Li, Seth Siriya, Ye Pu, Mo Chen

* This paper was submitted to the 4th Conference on Robot Learning (CoRL 2020) 

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SFU-Store-Nav: A Multimodal Dataset for Indoor Human Navigation


Oct 28, 2020
Zhitian Zhang, Jimin Rhim, Taher Ahmadi, Kefan Yang, Angelica Lim, Mo Chen

* 5 pages, paper submitted to Data In Brief Journal 

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Generating Robust Supervision for Learning-Based Visual Navigation Using Hamilton-Jacobi Reachability


Dec 20, 2019
Anjian Li, Somil Bansal, Georgios Giovanis, Varun Tolani, Claire Tomlin, Mo Chen


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TTR-Based Rewards for Reinforcement Learning with Implicit Model Priors


Mar 23, 2019
Xubo Lyu, Mo Chen


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On Infusing Reachability-Based Safety Assurance within Probabilistic Planning Frameworks for Human-Robot Vehicle Interactions


Dec 29, 2018
Karen Leung, Edward Schmerling, Mo Chen, John Talbot, J. Christian Gerdes, Marco Pavone

* Presented at the International Symposium on Experimental Robotics, Buenos Aires, Argentina, 2018 

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BaRC: Backward Reachability Curriculum for Robotic Reinforcement Learning


Sep 17, 2018
Boris Ivanovic, James Harrison, Apoorva Sharma, Mo Chen, Marco Pavone


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Robust Tracking with Model Mismatch for Fast and Safe Planning: an SOS Optimization Approach


Aug 02, 2018
Sumeet Singh, Mo Chen, Sylvia L. Herbert, Claire J. Tomlin, Marco Pavone

* Submitted to WAFR 2018 

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Reach-Avoid Problems via Sum-of-Squares Optimization and Dynamic Programming


Jul 30, 2018
Benoit Landry, Mo Chen, Scott Hemley, Marco Pavone

* International Conference on Intelligent Robots & Systems (IROS), 2018 

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Using Neural Networks to Compute Approximate and Guaranteed Feasible Hamilton-Jacobi-Bellman PDE Solutions


Mar 27, 2017
Frank Jiang, Glen Chou, Mo Chen, Claire J. Tomlin

* Submitted to IEEE Conference on Decision and Control, 2017 

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FaSTrack: a Modular Framework for Fast and Guaranteed Safe Motion Planning


Mar 21, 2017
Sylvia L. Herbert, Mo Chen, SooJean Han, Somil Bansal, Jaime F. Fisac, Claire J. Tomlin

* Submitted to IEEE Conference on Decision and Control, 2017 

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