Safety Evaluation of Motion Plans Using Trajectory Predictors as Forward Reachable Set Estimators

Kaustav Chakraborty*, Zeyuan Feng*, Sushant Veer*, Apoorva Sharma, Wenhao Ding, Sever Topan, Boris Ivanovic, Marco Pavone, Somil Bansal

Under Review, arXiv Pre-print, 2025

System-Level Safety Monitoring and Recovery for Perception Failures in Autonomous Vehicles

Kaustav Chakraborty*, Zeyuan Feng*, Sushant Veer, Apoorva Sharma, Boris Ivanovic, Marco Pavone, Somil Bansal

2025 IEEE International Conference on Robotics and Automation (ICRA)

Enhancing Safety and Robustness of Vision-Based Controllers via Reachability Analysis

Kaustav Chakraborty, Aryaman Gupta, Somil Bansal

Under Review, arXiv Pre-print, 2024

Detecting and Mitigating System-Level Anomalies of Vision-Based Controllers

Aryaman Gupta*, Kaustav Chakraborty*, Somil Bansal

2024 IEEE International Conference on Robotics and Automation (ICRA)

On Safety and Liveness Filtering Using Hamilton-Jacobi Reachability Analysis

Javier Borquez, Kaustav Chakraborty, Hao Wang, Somil Bansal

IEEE Transactions on Robotics, 2023

Discovering Closed-Loop Failures of Vision-Based Controllers via Reachability Analysis

Kaustav Chakraborty, Somil Bansal

IEEE Robotics and Automation Letters 8 (5), 2692-2699, Presented at IROS 2023

Planning of Obstacle-aided Navigation for Multi-legged Robots using a Sampling-based Method over Directed Graphs

Kaustav Chakraborty, Haodi Hu, Matthew D Kvalheim, Feifei Qian

IEEE Robotics and Automation Letters 7 (4), 8861-8868, Presented at IROS 2022

Effect of Flake Reinforcement on Mechanical Properties of AA 6061 Nano Composite with Secondary Nano Platelet-Graphene Processed Through Powder Metallurgy

HG Prashantha Kumar, Anthony Xavior M., Joel J., Ashwath P., Kaustav Chakraborty

Materials Today: Proceedings, 2018

* denotes equal contribution