SOURCE-LINKED INTELLIGENCE

Hamilton-Jacobi Reachability for Hybrid Systems: Unified Goal-Driven Control with Safety Guarantees

arXiv · AI, language, vision and robotics · article · Sep 15, 2026 · UTC

Hybrid dynamical systems provide a powerful modeling framework for robotic systems, particularly in contact-rich environments. However, ensuring safety and performance in such systems remains challenging due to the intricate coupling between continuous dynamics and discrete mode transitions. In this work, we extend classical Hamilton-Jacobi (HJ) reachability analysis, a formal verification method for continuous-time nonlinear systems, to hybrid dynamical systems. Our framework characterizes safe sets for hybrid systems through a generalized value function defined over both discrete and continu

Read original source ↗ Open in workspace

recordType

paper

region

Global