https://omanshuthapliyal.github.io/tags/safe-navigation/Recent content in Safe-Navigation on Omanshu ThapliyalHugoenhttps://omanshuthapliyal.github.io/projects/unmanned-aerial-vehicle-safe-autonomous-operations/Mon, 01 Jan 0001 00:00:00 +0000https://omanshuthapliyal.github.io/projects/unmanned-aerial-vehicle-safe-autonomous-operations/<h2 id="problem">Problem</h2> <p>Air taxis and delivery drones are expected to fly autonomously over cities, but public trust is low: in one survey cited in this work, only 26% of respondents trusted autonomous air taxis. Before these vehicles can fly on their own, their controllers need a clear safety guarantee: the set of states from which the vehicle can still avoid a collision or reach its landing pad. Computing that set means solving a Hamilton-Jacobi equation, and grid-based solvers become impractical for realistic vehicle models with 6 to 12 states. Learning-based controllers scale better, but they are hard to certify.</p>