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reachability-based_trajectory_safeguard
reachability-based_trajectory_safeguard PublicWe use reachability to ensure the safety of a decision agent acting on a dynamic system in real-time. We compute the Forward Reachable Set offline and use it online to adjust any potentially unsafe…
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koopman-realizations
koopman-realizations PublicCodebase for generating linear/bilinear/nonlinear Koopman model realizations from data and constructing MPC controllers.
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