Author

Will Sharpless

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Preprint Aug 2026

Extending and Unifying the Fundamental Tasks of Hamilton-Jacobi Reachability Analysis

In this work, we introduce the generalized reach-avoid (GRA) task, which both extends and unifies the canonical tasks of Hamilton-Jacobi Reachability (HJR). We show that the GRA not only serves as a common primitive in this class of fundamental tasks, but also strictly extends the fundamental tasks that can be solved w...

Dylan Hirsch, Will Sharpless, Donggun Lee et al. · 1 citation · ⚡1