Reach-Avoid Certificates for Contact-based Stochastic Hybrid Systems
Reach-Avoid Certificates for Contact-based Stochastic Hybrid Systems
This paper presents a method for certified reach-avoid control of stochastic hybrid systems, where continuous dynamics are governed by a stochastic differential equation and discrete resets are governed by a controlled stochastic kernel. The work introduces reach-avoid contact certificates that guarantee safety and task completion over an infinite horizon, with a safety filter reducing collisions in a dribbling ball simulation.
Source: arXiv Robotics — research abstracts · Read original article ↗
Loading article text…
What the source reports
Publisher-reported claims, with original evidence. These results have not been independently verified by RoboSignal.
Reported numbers
percent
93.6
collisions
68
episodes
200 episodes
Source excerpts and review record
Automatically extracted; no manual editorial approval recorded.
is a subset covering 93.6\% of the ground truth and where our certificate-based safety filter reaches the goal while reducing collisions from 68 to zero across 200 episodes of a dribbling ball problem.
Open source S5
Source：arXiv Robotics — research abstracts · arxiv.org