Dr. Namhoon Cho, a lecturer in Control and Optimisation in the Centre for Assured and Connected Autonomy, Faculty of Engineering and Applied Sciences, Cranfield University, United Kingdom, visited CDSL to deliver a seminar titled ‘DDH: Data-Driven Hamiltonian for Safe Set Construction and Beyond’.
In this seminar, Dr. Cho discussed about novel data-driven safety verification framework for constructing safe sets of uncertain nonlinear systems directly from trajectory data, without requiring explicit model identification.
To apply the notion of the Hamilton-Jacobi reachability (HJ reachablility) for the construction of data-driven safe set, he defined Data-Driven Hamiltonian (DDH), which safely under-estimates the true Hamiltonian. Dr. Cho addressed how to get DDH and to obtain under-approximated backward reachability set by DDH. He also presented total framework to get data-driven safety set and its simulation results for tilt-rotor aircraft systems which include mode-transformation. More information on his research can be found here.
Since CDSL also is interested in direct data-driven control and reachability analysis, after the seminar, there were a lively discussions and questions about his research.
We thank Dr. Cho for his enlightening presentation and enthusiastic discussions. We hope for future collaborations for many areas including data-driven analysis.