Safe and efficient motion planning for autonomous systems using hamilton-jacobi reachability

A method for safe motion planning of an autonomous system, comprising:

• obtaining, by a hypernetwork, an environment representation comprising one or more differences between successive signed distance fields, SDFs, obtained across a plurality of time steps within a motion planning time horizon;
• generating, by the hypernetwork, parameters based on the environment representation;
• obtaining, by a main network, a residual of a Hamilton-Jacobi, HJ, value function based on the obtained parameters;
• applying an activation function to the residual to obtain a modified residual;
• determining an intermediate HJ value function as a subtraction of the modified residual from a selected SDF corresponding to a current or future time step within the motion planning horizon;
• determining a final HJ value function as an addition of the intermediate HJ value function with a state-dependent slack function, wherein the slack function enables the autonomous system to explore environment areas marked as unsafe due to unknown space, thereby reducing conservativeness and improving navigation efficiency;
• and
• using the determined final HJ value function for safe motion planning of the autonomous system.