https://plancherb1.github.io/tags/safety/ Recent content in Safety on Brian Plancher Hugo -- gohugo.io en-us © {year} Brian Plancher Mon, 21 Sep 2026 00:00:00 +0000 https://plancherb1.github.io/publication/raya/ Mon, 21 Sep 2026 00:00:00 +0000 https://plancherb1.github.io/publication/raya/ We present RAYA, a hybrid learned-analytic framework that places a learned finite-horizon recoverability margin inside an optimal controller with hard constraints and pairs it with a bounded learned scheduler that shifts task weights to facilitate recovery. Across 7,200 simulation episodes per controller spanning quadrotor and autonomous-vehicle benchmarks, RAYA not only improves survival rates, but also transfers the learned components zero-shot to unseen trajectories, disturbances, plant shifts, and friction layouts. We developed an embedded realization of RAYA and deployed it on-board a 35g Crazyflie quadrotor. Across 40 combined hardware flights under wind with either aerodynamic mismatch or an unmodeled 40% motor-command loss, each of three baselines fails in all trials, while RAYA completes 10/10 six-cycle missions.