RTD-RAX: fast, safe trajectory planning for systems under unknown disturbances. Uses mixed-monotone reachability to certify and repair planned trajectories online, extending Reachability-based Trajectory Design with runtime safety assurance that handles real-world uncertainty.
research autonomous-driving nonlinear-dynamics optimal-control rtd real-time-systems georgia-tech trajectory-planning disturbance reachability-analysis jax safe-planning disturbances mixed-monotonicity evannsmc immrax uncertain-dynamics
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Updated
Mar 21, 2026 - Python