Formal Safety Net Control Using Backward Reachability Analysis
نویسندگان
چکیده
Ensuring safety is crucial for the successful deployment of autonomous systems, such as self-driving vehicles, unmanned aerial and robots acting close to humans. While there exist many controllers that optimize certain criteria, energy consumption, comfort, or low wear, they are usually not able guarantee at all times constrained nonlinear systems affected by disturbances. Many providing guarantees, however, have no optimal performance. The idea this article is, therefore, synthesize a formally correct controller serves net an unverified, controller. This way, most time, in charge leads desired, control constantly monitors actions takes over if system would become unsafe. utilizes novel concept backward reachable set computation, where we avoid need computing underapproximations sets. We further developed new approach analytically describes sets, making it possible efficiently maximize size set. demonstrate our numerical example from driving.
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ژورنال
عنوان ژورنال: IEEE Transactions on Automatic Control
سال: 2022
ISSN: ['0018-9286', '1558-2523', '2334-3303']
DOI: https://doi.org/10.1109/tac.2021.3124188