Viability theory
On the Observability and Detectability of Continuous-Time Markov Jump Linear Systems
SIAM Journal on Control and Optimization
TACAS '95 Proceedings of the First International Workshop on Tools and Algorithms for Construction and Analysis of Systems
Beyond HYTECH: Hybrid Systems Analysis Using Interval Numerical Methods
HSCC '00 Proceedings of the Third International Workshop on Hybrid Systems: Computation and Control
Semi-decidable Synthesis for Triangular Hybrid Systems
HSCC '01 Proceedings of the 4th International Workshop on Hybrid Systems: Computation and Control
Design of Observers for Hybrid Systems
HSCC '02 Proceedings of the 5th International Workshop on Hybrid Systems: Computation and Control
LICS '96 Proceedings of the 11th Annual IEEE Symposium on Logic in Computer Science
Convex Optimization
Planning Algorithms
A separation principle for a class of hybrid automata on a partial order
ACC'09 Proceedings of the 2009 conference on American Control Conference
A partial order approach to discrete dynamic feedback in a class of hybrid systems
HSCC'07 Proceedings of the 10th international conference on Hybrid systems: computation and control
Observability of linear hybrid systems
HSCC'03 Proceedings of the 6th international conference on Hybrid systems: computation and control
A lattice theory for solving games of imperfect information
HSCC'06 Proceedings of the 9th international conference on Hybrid Systems: computation and control
The reachability problem for uncertain hybrid systems revisited: a viability theory perspective
HSCC'06 Proceedings of the 9th international conference on Hybrid Systems: computation and control
Aircraft conflict prediction in the presence of a spatially correlated wind field
IEEE Transactions on Intelligent Transportation Systems
Controllers for reachability specifications for hybrid systems
Automatica (Journal of IFAC)
Discrete state estimators for systems on a lattice
Automatica (Journal of IFAC)
Efficient algorithms for collision avoidance at intersections
Proceedings of the 15th ACM international conference on Hybrid Systems: Computation and Control
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This paper addresses the two-agent safety control problem for piecewise continuous systems with disturbances and imperfect state information. In particular, we focus on a class of systems that evolve on a partial order and whose dynamics preserve the ordering. While the safety control problem with imperfect state information is prohibitive for general classes of nonlinear and hybrid systems, the class of systems considered in this paper admits an explicit solution. We compute this solution with linear complexity discrete-time algorithms that are guaranteed to terminate. The proposed algorithms are illustrated on a two-vehicle collision avoidance problem and implemented on a hardware roundabout test-bed.