Publications
Journal Papers (* indicates first authors)
Armin Lederer*, Azra Begzadić*, Sandra Hirche, Jorge Cortés, Sylvia Herbert, "Safe Barrier-Constrained Control of Uncertain Systems via Event-triggered Learning", submitted to IEEE Transactions on Automatic Control, 2024
He,* Chong, Gong,* Zheng, et al. "Efficient and Guaranteed Hamilton-Jacobi Reachability via Self-Contained Subsystem Decomposition and Admissible Control Sets." IEEE Control Systems Letters (L-CSS), 2024.
Jason J. Choi*, Donggun Lee*, Boyang Li, Jonathan P. How, Koushil Sreenath, Sylvia L. Herbert, and Claire J. Tomlin, “A Forward Reachability Perspective on Robust Control Invariance and Discount Factors in Reachability Analysis.” SIAM Journal on Control and Optimization, 2024, submitted.
Zheng Gong*, Boyang Li* and Sylvia Herbert, “Safe Returning FaSTrack With Robust Control Lyapunov-Value Functions”, IEEE Control Systems Letters, 8:1373-1378, 2024.
David Fridovich-Keil*, Andrea Bajcsy*, Jaime F. Fisac, Sylvia Herbert, Steven Wang, Anca D. Dragan, and Claire J. Tomlin, “Confidence-aware motion prediction for real-time collision avoidance.” International Journal of Robotics Research (invited paper), 2020.
Mo Chen*, Sylvia Herbert*, Haimin Hu, Ye Pu, Jaime F. Fisac, Somil Bansal, SooJean Han, and Claire J. Tomlin, “FaSTrack: a Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking.” IEEE Transactions on Automatic Control (accepted, 2020).
Mo Chen, Sylvia Herbert, Mahesh S. Vashishtha, Somil Bansal, Claire J. Tomlin, “A General System Decomposition Method for Computing Reachable Sets and Tubes.” IEEE Transactions on Automatic Control, 2017.
Richard Kressly, Sylvia Herbert, Phil Ross, and Delia Votsch. "Portable inspiration: The necessity of STEM outreach investment." The Technology Teacher, 2009.
Conference Papers (* indicates first authors)
Will Sharpless, Yat Tin Chow and Sylvia Herbert, “State-Augmented Linear Games with Antagonistic Error for High-Dimensional, Nonlinear Hamilton-Jacobi Reachability“, Proceedings of the IEEE Conference on Decision and Control, Milan, Italy, 2024, to appear.
Zheng Gong, Hyun Joe Jeong and Sylvia Herbert, “Synthesizing Control Lyapunov-Value Functions for High-Dimensional Systems Using System Decomposition and Admissible Control Sets“, Proceedings of the IEEE Conference on Decision and Control, Milan, Italy, 2024, to appear.
Sander Tonkens, Alex Toofanian, Zhizhen Qin, Sicun Gao and Sylvia Herbert, “Patching Approximately Safe Value Functions Leveraging Local Hamilton-Jacobi Reachability Analysis“, Proceedings of the IEEE Conference on Decision and Control, Milan, Italy, 2024, to appear.
Zheng Gong*, Boyang Li* and Sylvia Herbert, “Safe Returning FaSTrack With Robust Control Lyapunov-Value Functions”, Proceedings of the IEEE Conference on Decision and Control, Milan, Italy, 2024, to appear.
Shinde, Nikhil U., et al. “JIGGLE: An Active Sensing Framework for Boundary Parameters Estimation in Deformable Surgical Environments.” Robotics: Science and Systems (RSS). 2024.
Hyun Joe Jeong, Zheng Gong, Somil Bansal and Sylvia Herbert, "Parameterized Fast and Safe Tracking (FaSTrack) using Deepreach", Learning for Dynamics and Control (L4DC), 2024.
He,* Chong, Gong,* Zheng, et al. "Efficient and Guaranteed Hamilton-Jacobi Reachability via Self-Contained Subsystem Decomposition and Admissible Control Sets." American Control Conference (ACC), 2024.
Ganai, Milan, et al. "Iterative Reachability Estimation for Safe Reinforcement Learning." Advances in Neural Information Processing Systems (NeurIPS), 2023.
Shinde, Nikhil U., et al. "Object-Centric Representations for Interactive Online Learning with Non-Parametric Methods." 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE). IEEE, 2023.
Peiros, Elizabeth, et al. "Finding biomechanically safe trajectories for robot manipulation of the human body in a search and rescue scenario." 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2023.
Tonkens, Sander, et al. "Scalable safe long-horizon planning in dynamic environments leveraging conformal prediction and temporal correlations." Long-Term Human Motion Prediction Workshop, International Conference on Robotics and Automation. 2023.
Gong,* Zheng, Zhao,* Muhan Thomas Bewley, and Sylvia Herbert. "Constructing Control Lyapunov-Value Functions using Hamilton-Jacobi Reachability Analysis" Control Systems Letters (L-CSS) and the American Control Conference (ACC), 2022.
Sander Tonkens and Sylvia Herbert. "Refining Control Barrier Functions through Hamilton-Jacobi Reachability." International Conference on Intelligent Robots and Systems (IROS), 2022
Jason J Choi, Donggun Lee, Koushil Sreenath, Claire J Tomlin, Sylvia L Herbert, “Robust Control Barrier-Value Functions for Safety-Critical Control.” Submitted to IEEE International Conference on Decision and Control (CDC), 2021.
Sylvia Herbert, Shromona Ghosh, Somil Bansal, and Claire J. Tomlin, “Reachability-Based Safety Guarantees using Efficient Initializations.” IEEE International Conference on Decision and Control (CDC), 2019.
Andrea Bajcsy*, Sylvia Herbert*, David Fridovich-Keil, Jaime F. Fisac, Sampada Deglurkar, Anca D. Dragan, and Claire J. Tomlin, “A Scalable Framework for Real-Time Multi-Robot, Multi-Human Collision Avoidance.” IEEE International Conference on Robotics and Automation (ICRA), 2019.
Vicenç Rubies Royo, David Fridovich-Keil, Sylvia Herbert, and Claire J. Tomlin, "Classification-based Approximate Reachability with Guarantees Applied to Safe Trajectory Tracking." IEEE International Conference on Robotics and Automation (ICRA), 2019.
Sumeet Singh, Mo Chen, Sylvia Herbert, Claire J. Tomlin, and Marco Pavone, “Robust Tracking with Model Mismatch for Fast and Safe Planning: An SOS Optimization Approach,” Workshop on the Algorithmic Foundations of Robotics (WAFR), 2018.
Jaime F. Fisac*, Andrea Bajcsy*, Sylvia Herbert, David Fridovich-Keil, Steven Wang, Claire J. Tomlin, and Anca D. Dragan, "Probabilistically Safe Robot Planning with Confidence-Based Human Predictions." Robotics Science and Systems (RSS), 2018.
David Fridovich-Keil*, Sylvia Herbert*, Jaime F. Fisac*, Sampada Deglurkar, and Claire J .Tomlin, "Planning, Fast and Slow: A Framework for Adaptive Real-Time Safe Trajectory Planning." IEEE Conference on Robotics and Automation (ICRA), 2018.
Sylvia Herbert*, Mo Chen*, SooJean Han, Somil Bansal, Jaime F. Fisac, and Claire J .Tomlin, "FaSTrack: a Modular Framework for Fast and Guaranteed Safe Motion Planning." IEEE Conference on Decision and Control (CDC), 2017.
Somil Bansal, Mo Chen, Sylvia Herbert, Claire J. Tomlin, "Hamilton-Jacobi Reachability: A Brief Overview and Recent Advances." IEEE Conference on Decision and Control (CDC), 2017.
Mo Chen, Sylvia Herbert, Claire J. Tomlin, "Exact and Efficient Hamilton-Jacobi-based Guaranteed Safety Analysis via System Decomposition," IEEE International Conference on Robotics and Automation (ICRA), 2017.
Mo Chen*, Sylvia Herbert*, Claire J. Tomlin, "Fast Reachable Set Approximations via State Decoupling Disturbances," IEEE Conference on Decision and Control (CDC), 2016. cite
Brandon Terranova, Alyssa Bellingham, Sylvia Herbert, & Adam Fontecchio. Cylindrical channel plasmon resonance for single-molecule sensing. International Society for Optics and Photonics (SPIE), 2014.
David Delaine, Sylvia Herbert, & Adam Fontecchio. An optical induction generator through Crooke's radiometer. In SPIE Optical Engineering+ Applications. International Society for Optics and Photonics (SPIE), 2010.