Discovering Closed-Loop Failures of Vision-Based Controllers via Reachability Analysis
Kaustav Chakraborty, Somil Bansal
IEEE Robotics and Automation Letters (RA-L), 2023 [PDF] [Website] [Code]

Online Update of Safety Assurances Using Confidence-Based Predictions
Kensuke Nakamura, Somil Bansal
IEEE International Conference on Robotics and Automation (ICRA), 2023 [PDF] [Website] [Code]

Parameter-Conditioned Reachable Sets for Updating Safety Assurances Online
Javier Borquez, Kensuke Nakamura, Somil Bansal
IEEE International Conference on Robotics and Automation (ICRA), 2023 [PDF] [Website] [Code]

Generating Formal Safety Assurances for High-Dimensional Reachability
Albert Lin, Somil Bansal
IEEE International Conference on Robotics and Automation (ICRA), 2023 [PDF] [Website] [Code]

Computation of Regions of Attraction for Hybrid Limit Cycles Using Reachability: An Application to Walking Robots
Jason Choi, Ayush Agrawal, Koushil Sreenath, Claire Tomlin, Somil Bansal
IEEE Robotics and Automation Letters (RA-L), and
International Conference on Robotics and Automation (ICRA), 2022 [PDF] [Code and Videos]

DeepReach: A Deep Learning Approach to High-Dimensional Reachability
Somil Bansal, Claire J. Tomlin
IEEE International Conference on Robotics and Automation (ICRA), 2021 [PDF] [Code]

Visual Navigation Among Humans with Optimal Control as a Supervisor
Varun Tolani, Somil Bansal, Aleksandra Faust, Claire J. Tomlin
IEEE Robotics and Automation Letters (RA-L), and
International Conference on Robotics and Automation (ICRA), 2021 [PDF] [Code and Videos]

Provably Safe and Scalable Multi-Vehicle Trajectory Planning
Somil Bansal, Mo Chen, Ken Tanabe, Claire Tomlin
IEEE Transactions on Control Systems Technology (TCST), 2021 [PDF] [Video]

A Hamilton-Jacobi Reachability-Based Framework for Predicting and Analyzing Human Motion for Safe Planning
Somil Bansal, Andrea Bajcsy, Ellis Ratner, Anca D. Dragan, Claire J. Tomlin
International Conference on Robotics and Automation (ICRA), 2020 [PDF]

Generating Robust Supervision for Learning-Based Visual Navigation Using Hamilton-Jacobi Reachability
Anjian Li, Somil Bansal, Georgios Giovanis, Varun Tolani, Claire J. Tomlin, Mo Chen
2nd Annual Conference on Learning for Dynamics and Control (L4DC), 2020 [PDF]

A Robust Control Framework for Human Motion Prediction
Andrea Bajcsy, Somil Bansal, Ellis Ratner, Claire J. Tomlin, Anca D. Dragan
IEEE Robotics and Automation Letters (RA-L), 2020 [PDF]

FaSTrack: a Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking
Mo Chen, Sylvia Herbert, Haimin Hu, Ye Pu, Jaime F. Fisac, Somil Bansal, SooJean Han, Claire Tomlin
IEEE Transactions on Automatic Control (TAC), 2020 [PDF]

Combining Optimal Control and Learning for Visual Navigation in Novel Environments
Somil Bansal, Varun Tolani, Saurabh Gupta, Jitendra Malik, Claire J. Tomlin
Conference on Robot Learning (CoRL), 2019 [PDF] [BibTeX] [Code and Videos]

An Efficient Reachability-Based Framework for Provably Safe Autonomous Navigation in Unknown Environments
Andrea Bajcsy, Somil Bansal, Eli Bronstein, Varun Tolani, Claire J. Tomlin
IEEE Conference on Decision and Control (CDC), 2019 [PDF] [BibTeX] [Project Website and Videos]

Reachability-Based Safety Guarantees Using Efficient Initializations
Sylvia Herbert, Somil Bansal, Shromona Ghosh, Claire J. Tomlin
IEEE Conference on Decision and Control (CDC), 2019 [PDF] [BibTeX]

Closed-Loop Model Selection for Kernel-based Models Using Bayesian Optimization
Thomas Beckers, Somil Bansal, Claire J. Tomlin, Sandra Hirche
IEEE Conference on Decision and Control (CDC), 2019 [PDF]

A New Simulation Metric to Determine Safe Environments and Controllers for Systems with Unknown Dynamics
Shromona Ghosh, Somil Bansal, Alberto Sangiovanni-Vincentelli, Sanjit Seshia, Claire Tomlin
ACM International Conference on Hybrid Systems: Computation and Control (HSCC), 2019 [PDF] [BibTeX]

Goal-Driven Dynamics Learning via Bayesian Optimization
Somil Bansal, Roberto Calandra, Ted Xiao, Sergey Levine, Claire Tomlin
IEEE Conference on Decision and Control (CDC), 2017 [PDF] [BibTeX] [Video]

Hamilton-Jacobi Reachability: A Brief Overview and Recent Advances
Somil Bansal, Mo Chen, Sylvia Herbert, Claire Tomlin
IEEE Conference on Decision and Control (CDC), 2017 [PDF] [BibTeX] [Videos]

FaSTrack: a Modular Framework for Fast and Guaranteed Safe Motion Planning
Sylvia Herbert, Mo Chen, Soojean Han, Somil Bansal, Jaime F. Fisac, Claire Tomlin
IEEE Conference on Decision and Control (CDC), 2017 [PDF] [BibTeX]

Safe Sequential Path Planning of Multi-Vehicle Systems Under Disturbances and Imperfect Information
Somil Bansal, Mo Chen, Jaime F. Fisac, Claire Tomlin
American Control Conference (ACC), 2017 [PDF] [BibTeX]

Robust Sequential Path Planning Under Disturbances and Adversarial Intruder
Mo Chen, Somil Bansal, Jaime F. Fisac, Claire Tomlin
IEEE Transactions on Control Systems Technology (TCST), 2017 [PDF] [BibTeX]

Decomposition of Reachable Sets and Tubes for a Class of Nonlinear Systems
Mo Chen, Sylvia Herbert, Mahesh Vashishtha, Somil Bansal, Claire Tomlin
IEEE Transactions on Automatic Control (TAC), 2017 [PDF] [BibTeX]

Plug-and-Play Model Predictive Control for Load Shaping and Voltage Control in Smart Grids
Caroline L. Floch, Somil Bansal, Claire Tomlin, Scott Moura, Melanie Zeilinger
IEEE Transactions on Smart Grid, 2017 [PDF] [BibTeX]

Learning Quadrotor Dynamics Using Neural Network for Flight Control
Somil Bansal, Anayo K. Akametalu, Frank Jiang, Forrest Laine, Claire Tomlin
IEEE Conference on Decision and Control (CDC), 2016 [PDF] [BibTeX] [Video]

Plug-and-Play Model Predictive Control for Electrical Vehicle Charging and Voltage Control in Smart Grids
Somil Bansal, Melanie Zeilinger, Claire Tomlin
IEEE Conference on Decision and Control (CDC), 2014 [PDF] [BibTeX]