Will Sharpless

Hello,

I'm a PhD Student in Sylvia Herbert's Safety and Autonomous Systems group at UC, San Diego (Mechanical and Aerospace).

My work involves differential games, optimal control and learning (of Hamilton-Jacobi-Bellman PDE's) with a focus on fast high-dimensional methods for safe multi-agent autonomy. This is generally for robotics, but I am also interested in similar challenges in medicine and finance.

Before UCSD, I completed my undergraduate degree in applied mathematics at UC, Berkeley where I worked with Claire Tomlin, Adam Arkin and Jay Keasling.

willsharpless [at] ucsd [dot] edu  /  CV  /  Google Scholar  /  Github  /  Linkedin

profile photo
Publications
State-Augmented Linear Games with Antagonistic Error for High-Dimensional, Nonlinear Hamilton-Jacobi Reachability
Will Sharpless, Yat Tin Chow, Sylvia Herbert.
Conference on Decision and Control, 2024.

[paper]
Conservative Linear Envelopes for High-Dimensional, Hamilton-Jacobi Reachability for Nonlinear Systems via the Hopf Formula
Will Sharpless, Yat Tin Chow, Sylvia Herbert.
Transactions on Automatic Control (In Review), 2024.

[paper]
Koopman-Hopf Hamilton-Jacobi Reachability and Control
Will Sharpless, Nikhil Shinde, Matthew Kim, Yat Tin Chow, Sylvia Herbert.
Arxiv (In Review), 2023.

[paper]
Invited Talks
American Math Society (AMS) - Session on Applied Partial Differential Equations, October 2024 [slides]
Lifted Differential Games with Antagonistic Error for Fast, Accurate and Conservative HJB Approximations.
Scientific AI Research Seminar @ Oden Institute - UT Austin, October 2024 [slides]
Lifted Differential Games with Antagonistic Error for Fast, Accurate and Conservative HJB Approximations.
Society of Industrial and Applied Mathematics (SIAM) - Session on High Dimensional Control and HJE, September 2024 [slides]
Lifted Differential Games with Antagonistic Error for Fast, Accurate and Conservative HJB Approximations.
Safe and Intelligent Autonomy Seminar @ USC, August 2023 [slides]
Conservative Envelopes with Linear Hopf Solutions for Fast & Safe High-Dimensional Control and Reachability
Level Set Seminar @ UCLA, April 2023 [slides]
Koopman-Hopf Hamilton-Jacobi-Reachability for Fast and Accurate Autonomy
Software
HopfReachability.jl

Julia software for accelerated non-smooth, convex optimization of the Hopf objective for solving high-dimensional differential games.

Website template by Jon Barron (source code).
How the mighty have fallen.