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2020 – today
- 2024
[j11]Hao Wang
, Javier Borquez, Somil Bansal:
Providing Safety Assurances for Systems With Unknown Dynamics. IEEE Control. Syst. Lett. 8: 1108-1113 (2024)- [j10]Javier Borquez, Kaustav Chakraborty, Hao Wang, Somil Bansal:
On Safety and Liveness Filtering Using Hamilton-Jacobi Reachability Analysis. IEEE Trans. Robotics 40: 4235-4251 (2024) - [c20]Aryaman Gupta, Kaustav Chakraborty, Somil Bansal:
Detecting and Mitigating System-Level Anomalies of Vision-Based Controllers. ICRA 2024: 9953-9959 - [c19]Albert Lin, Somil Bansal:
Verification of neural reachable tubes via scenario optimization and conformal prediction. L4DC 2024: 719-731 - [c18]Hyun Joe Jeong, Zheng Gong, Somil Bansal, Sylvia L. Herbert:
Parameterized fast and safe tracking (FaSTrack) using DeepReach. L4DC 2024: 1006-1017 - [i38]Hao Wang, Javier Borquez, Somil Bansal:
Providing Safety Assurances for Systems with Unknown Dynamics. CoRR abs/2403.05771 (2024) - [i37]Aditya Singh, Zeyuan Feng, Somil Bansal:
Imposing Exact Safety Specifications in Neural Reachable Tubes. CoRR abs/2404.00814 (2024) - [i36]Yusuf Umut Ciftci, Zeyuan Feng, Somil Bansal:
SAFE-GIL: SAFEty Guided Imitation Learning. CoRR abs/2404.05249 (2024) - [i35]HyunJae Jeong, Zheng Gong, Somil Bansal, Sylvia L. Herbert:
Parameterized Fast and Safe Tracking (FaSTrack) using Deepreach. CoRR abs/2404.07431 (2024) - [i34]Shaunak A. Mehta, Yusuf Umut Ciftci, Balamurugan Ramachandran, Somil Bansal, Dylan P. Losey:
Stable-BC: Controlling Covariate Shift with Stable Behavior Cloning. CoRR abs/2408.06246 (2024) - [i33]Hao Wang, Adityaya Dhande, Somil Bansal:
Cooptimizing Safety and Performance with a Control-Constrained Formulation. CoRR abs/2409.06696 (2024) - [i32]Leonardo Santos, Zirui Li, Lasse Peters, Somil Bansal, Andrea Bajcsy:
Updating Robot Safety Representations Online from Natural Language Feedback. CoRR abs/2409.14580 (2024) - [i31]Xingpeng Xia, Jason J. Choi, Ayush Agrawal, Koushil Sreenath, Claire J. Tomlin, Somil Bansal:
Gait Switching and Enhanced Stabilization of Walking Robots with Deep Learning-based Reachability: A Case Study on Two-link Walker. CoRR abs/2409.16301 (2024) - 2023
- [j9]Kaustav Chakraborty, Somil Bansal:
Discovering Closed-Loop Failures of Vision-Based Controllers via Reachability Analysis. IEEE Robotics Autom. Lett. 8(5): 2692-2699 (2023) - [c17]Albert Lin, Somil Bansal:
Generating Formal Safety Assurances for High-Dimensional Reachability. ICRA 2023: 10525-10531 - [c16]Javier Borquez, Kensuke Nakamura, Somil Bansal:
Parameter-Conditioned Reachable Sets for Updating Safety Assurances Online. ICRA 2023: 10553-10559 - [c15]Kensuke Nakamura, Somil Bansal:
Online Update of Safety Assurances Using Confidence-Based Predictions. ICRA 2023: 12765-12771 - [i30]Javier Borquez, Shuang Peng, Yiyu Chen, Quan Nguyen, Somil Bansal:
Hamilton-Jacobi Reachability Analysis for Hybrid Systems with Controlled and Forced Transitions. CoRR abs/2309.10893 (2023) - [i29]Aryaman Gupta, Kaustav Chakraborty, Somil Bansal:
Detecting and Mitigating System-Level Anomalies of Vision-Based Controllers. CoRR abs/2309.13475 (2023) - [i28]Albert Lin, Somil Bansal:
Verification of Neural Reachable Tubes via Scenario Optimization and Conformal Prediction. CoRR abs/2312.08604 (2023) - [i27]Javier Borquez, Kaustav Chakraborty, Hao Wang, Somil Bansal:
On Safety and Liveness Filtering Using Hamilton-Jacobi Reachability Analysis. CoRR abs/2312.15347 (2023) - 2022
- [j8]Jason J. Choi, Ayush Agrawal, Koushil Sreenath, Claire J. Tomlin, Somil Bansal:
Computation of Regions of Attraction for Hybrid Limit Cycles Using Reachability: An Application to Walking Robots. IEEE Robotics Autom. Lett. 7(2): 4504-4511 (2022) - [i26]Jason J. Choi, Ayush Agrawal, Koushil Sreenath, Claire J. Tomlin, Somil Bansal:
Computation of Regions of Attraction for Hybrid Limit Cycles Using Reachability: An Application to Walking Robots. CoRR abs/2201.08538 (2022) - [i25]Albert Lin, Somil Bansal:
Generating Formal Safety Assurances for High-Dimensional Reachability. CoRR abs/2209.12336 (2022) - [i24]Javier Borquez, Kensuke Nakamura, Somil Bansal:
Parameter-Conditioned Reachable Sets for Updating Safety Assurances Online. CoRR abs/2209.14976 (2022) - [i23]Kensuke Nakamura, Somil Bansal:
Online Update of Safety Assurances Using Confidence-Based Predictions. CoRR abs/2210.01199 (2022) - [i22]Kaustav Chakraborty, Somil Bansal:
Discovering Closed-Loop Failures of Vision-Based Controllers via Reachability Analysis. CoRR abs/2211.02736 (2022) - 2021
- [j7]Andrea Bajcsy, Somil Bansal, Ellis Ratner, Claire J. Tomlin, Anca D. Dragan:
A Robust Control Framework for Human Motion Prediction. IEEE Robotics Autom. Lett. 6(1): 24-31 (2021) - [j6]Varun Tolani, Somil Bansal, Aleksandra Faust, Claire J. Tomlin:
Visual Navigation Among Humans With Optimal Control as a Supervisor. IEEE Robotics Autom. Lett. 6(2): 2288-2295 (2021) - [j5]Mo Chen, Sylvia L. Herbert, Haimin Hu, Ye Pu, Jaime Fernández Fisac, Somil Bansal, SooJean Han, Claire J. Tomlin:
FaSTrack: A Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking. IEEE Trans. Autom. Control. 66(12): 5861-5876 (2021) - [j4]Somil Bansal, Mo Chen, Ken Tanabe, Claire J. Tomlin:
Provably Safe and Scalable Multivehicle Trajectory Planning. IEEE Trans. Control. Syst. Technol. 29(6): 2473-2489 (2021) - [c14]Somil Bansal, Claire J. Tomlin:
DeepReach: A Deep Learning Approach to High-Dimensional Reachability. ICRA 2021: 1817-1824 - [i21]Mo Chen, Sylvia L. Herbert, Haimin Hu, Ye Pu, Jaime F. Fisac, Somil Bansal, SooJean Han, Claire J. Tomlin:
FaSTrack: a Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking. CoRR abs/2102.07039 (2021) - 2020
- [c13]Somil Bansal, Andrea Bajcsy, Ellis Ratner, Anca D. Dragan, Claire J. Tomlin:
A Hamilton-Jacobi Reachability-Based Framework for Predicting and Analyzing Human Motion for Safe Planning. ICRA 2020: 7149-7155 - [c12]Anjian Li, Somil Bansal, Georgios Giovanis, Varun Tolani, Claire J. Tomlin, Mo Chen:
Generating Robust Supervision for Learning-Based Visual Navigation Using Hamilton-Jacobi Reachability. L4DC 2020: 500-510 - [i20]Varun Tolani, Somil Bansal, Aleksandra Faust, Claire J. Tomlin:
Visual Navigation Among Humans with Optimal Control as a Supervisor. CoRR abs/2003.09354 (2020) - [i19]Somil Bansal, Claire J. Tomlin:
DeepReach: A Deep Learning Approach to High-Dimensional Reachability. CoRR abs/2011.02082 (2020)
2010 – 2019
- 2019
- [j3]Mo Chen, Somil Bansal, Jaime F. Fisac, Claire J. Tomlin:
Robust Sequential Trajectory Planning Under Disturbances and Adversarial Intruder. IEEE Trans. Control. Syst. Technol. 27(4): 1566-1582 (2019) - [j2]Caroline Le Floch, Somil Bansal, Claire J. Tomlin, Scott J. Moura, Melanie N. Zeilinger:
Plug-and-Play Model Predictive Control for Load Shaping and Voltage Control in Smart Grids. IEEE Trans. Smart Grid 10(3): 2334-2344 (2019) - [c11]Thomas Beckers, Somil Bansal, Claire J. Tomlin, Sandra Hirche:
Closed-loop Model Selection for Kernel-based Models using Bayesian Optimization. CDC 2019: 828-834 - [c10]Andrea Bajcsy, Somil Bansal, Eli Bronstein, Varun Tolani, Claire J. Tomlin:
An Efficient Reachability-Based Framework for Provably Safe Autonomous Navigation in Unknown Environments. CDC 2019: 1758-1765 - [c9]Sylvia L. Herbert, Somil Bansal, Shromona Ghosh, Claire J. Tomlin:
Reachability-Based Safety Guarantees using Efficient Initializations. CDC 2019: 4810-4816 - [c8]Somil Bansal, Varun Tolani, Saurabh Gupta, Jitendra Malik, Claire J. Tomlin:
Combining Optimal Control and Learning for Visual Navigation in Novel Environments. CoRL 2019: 420-429 - [c7]Shromona Ghosh, Somil Bansal, Alberto L. Sangiovanni-Vincentelli, Sanjit A. Seshia, Claire J. Tomlin:
A new simulation metric to determine safe environments and controllers for systems with unknown dynamics. HSCC 2019: 185-196 - [i18]Shromona Ghosh, Somil Bansal, Alberto L. Sangiovanni-Vincentelli, Sanjit A. Seshia, Claire J. Tomlin:
A New Simulation Metric to Determine Safe Environments and Controllers for Systems with Unknown Dynamics. CoRR abs/1902.10320 (2019) - [i17]Somil Bansal, Varun Tolani, Saurabh Gupta, Jitendra Malik, Claire J. Tomlin:
Combining Optimal Control and Learning for Visual Navigation in Novel Environments. CoRR abs/1903.02531 (2019) - [i16]Sylvia L. Herbert, Shromona Ghosh, Somil Bansal, Claire J. Tomlin:
Reachability-Based Safety Guarantees using Efficient Initializations. CoRR abs/1903.07715 (2019) - [i15]Andrea Bajcsy, Somil Bansal, Eli Bronstein, Varun Tolani, Claire J. Tomlin:
An Efficient Reachability-Based Framework for Provably Safe Autonomous Navigation in Unknown Environments. CoRR abs/1905.00532 (2019) - [i14]Thomas Beckers, Somil Bansal, Claire J. Tomlin, Sandra Hirche:
Closed-loop Model Selection for Kernel-based Models using Bayesian Optimization. CoRR abs/1909.05699 (2019) - [i13]Somil Bansal, Andrea Bajcsy, Ellis Ratner, Anca D. Dragan, Claire J. Tomlin:
A Hamilton-Jacobi Reachability-Based Framework for Predicting and Analyzing Human Motion for Safe Planning. CoRR abs/1910.13369 (2019) - [i12]Anjian Li, Somil Bansal, Georgios Giovanis, Varun Tolani, Claire J. Tomlin, Mo Chen:
Generating Robust Supervision for Learning-Based Visual Navigation Using Hamilton-Jacobi Reachability. CoRR abs/1912.10120 (2019) - 2018
- [j1]Mo Chen, Sylvia L. Herbert, Mahesh S. Vashishtha, Somil Bansal, Claire J. Tomlin:
Decomposition of Reachable Sets and Tubes for a Class of Nonlinear Systems. IEEE Trans. Autom. Control. 63(11): 3675-3688 (2018) - [i11]Somil Bansal, Shromona Ghosh, Alberto L. Sangiovanni-Vincentelli, Sanjit A. Seshia, Claire J. Tomlin:
Context-Specific Validation of Data-Driven Models. CoRR abs/1802.04929 (2018) - 2017
- [c6]Somil Bansal, Mo Chen, Jaime F. Fisac, Claire J. Tomlin:
Safe sequential path planning under disturbances and imperfect information. ACC 2017: 5550-5555 - [c5]Sylvia L. Herbert, Mo Chen, SooJean Han, Somil Bansal, Jaime F. Fisac, Claire J. Tomlin:
FaSTrack: A modular framework for fast and guaranteed safe motion planning. CDC 2017: 1517-1522 - [c4]Somil Bansal, Mo Chen, Sylvia L. Herbert, Claire J. Tomlin:
Hamilton-Jacobi reachability: A brief overview and recent advances. CDC 2017: 2242-2253 - [c3]Somil Bansal, Roberto Calandra, Ted Xiao, Sergey Levine, Claire J. Tomlin:
Goal-driven dynamics learning via Bayesian optimization. CDC 2017: 5168-5173 - [i10]Sylvia L. Herbert, Mo Chen, SooJean Han, Somil Bansal, Jaime F. Fisac, Claire J. Tomlin:
FaSTrack: a Modular Framework for Fast and Guaranteed Safe Motion Planning. CoRR abs/1703.07373 (2017) - [i9]Somil Bansal, Roberto Calandra, Ted Xiao, Sergey Levine, Claire J. Tomlin:
Goal-Driven Dynamics Learning via Bayesian Optimization. CoRR abs/1703.09260 (2017) - [i8]Mo Chen, Somil Bansal, Ken Tanabe, Claire J. Tomlin:
Provably Safe and Robust Drone Routing via Sequential Path Planning: A Case Study in San Francisco and the Bay Area. CoRR abs/1705.04585 (2017) - [i7]Somil Bansal, Roberto Calandra, Sergey Levine, Claire J. Tomlin:
MBMF: Model-Based Priors for Model-Free Reinforcement Learning. CoRR abs/1709.03153 (2017) - [i6]Somil Bansal, Mo Chen, Sylvia L. Herbert, Claire J. Tomlin:
Hamilton-Jacobi Reachability: A Brief Overview and Recent Advances. CoRR abs/1709.07523 (2017) - [i5]Somil Bansal, Mo Chen, Claire J. Tomlin:
Safe and Resilient Multi-vehicle Trajectory Planning Under Adversarial Intruder. CoRR abs/1711.02540 (2017) - 2016
- [c2]Somil Bansal, Anayo K. Akametalu, Frank J. Jiang, Forrest Laine, Claire J. Tomlin:
Learning quadrotor dynamics using neural network for flight control. CDC 2016: 4653-4660 - [i4]Somil Bansal, Mo Chen, Jaime F. Fisac, Claire J. Tomlin:
Safe Sequential Path Planning of Multi-Vehicle Systems Under Presence of Disturbances and Imperfect Information. CoRR abs/1603.05208 (2016) - [i3]Caroline Le Floch, Somil Bansal, Claire J. Tomlin, Scott J. Moura, Melanie Nicole Zeilinger:
Plug-and-Play Model Predictive Control for Load Shaping and Voltage Control in Smart Grids. CoRR abs/1606.06682 (2016) - [i2]Somil Bansal, Anayo K. Akametalu, Frank J. Jiang, Forrest Laine, Claire J. Tomlin:
Learning Quadrotor Dynamics Using Neural Network for Flight Control. CoRR abs/1610.05863 (2016) - [i1]Mo Chen, Somil Bansal, Jaime F. Fisac, Claire J. Tomlin:
Robust Sequential Path Planning Under Disturbances and Adversarial Intruder. CoRR abs/1611.08364 (2016) - 2014
- [c1]Somil Bansal, Melanie Nicole Zeilinger, Claire J. Tomlin:
Plug-and-play model predictive control for electric vehicle charging and voltage control in smart grids. CDC 2014: 5894-5900
Coauthor Index
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