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About this paper
Javier Borquez, Shuang Peng, Somil Bansal
The authors extend Hamilton–Jacobi reachability to hybrid robots, modeling motion, mode switches, state resets, and disturbances. They develop a safety filter and a reach-avoid planner that jointly account for reaching a goal and avoiding failure. In quadruped simulations at 0.4 m/s disturbance, the planner’s safe-reach rate was 0.81, versus 0.48 for MPC. Guarantees depend on modeled disturbances and numerical accuracy.
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