Share

Safe Autonomy with Control Barrier Functions

2023-05-09 Technology & Engineering
Download Safe Autonomy with Control Barrier Functions PDF Online Free

Author :
Release : 2023-05-09
Genre : Technology & Engineering
Kind : eBook
Book Rating : 764/5 ( reviews)

GET EBOOK


Book Synopsis Safe Autonomy with Control Barrier Functions by : Wei Xiao

Download or read book Safe Autonomy with Control Barrier Functions written by Wei Xiao. This book was released on 2023-05-09. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the concept of Control Barrier Function (CBF), which captures the evolution of safety requirements during the execution of a system and can be used to enforce safety. Safety is formalized using an emerging state-of-the-art approach based on CBFs, and many illustrative examples from autonomous driving, traffic control, and robot control are provided. Safety is central to autonomous systems since they are intended to operate with minimal or no human supervision, and a single failure could result in catastrophic results. The authors discuss how safety can be guaranteed via both theoretical and application perspectives. This presented method is computationally efficient and can be easily implemented in real-time systems that require high-frequency reactive control. In addition, the CBF approach can easily deal with nonlinear models and complex constraints used in a wide spectrum of applications, including autonomous driving, robotics, and traffic control. With the proliferation of autonomous systems, such as self-driving cars, mobile robots, and unmanned air vehicles, safety plays a crucial role in ensuring their widespread adoption. This book considers the integration of safety guarantees into the operation of such systems including typical safety requirements that involve collision avoidance, technological system limitations, and bounds on real-time executions. Adaptive approaches for safety are also proposed for time-varying execution bounds and noisy dynamics.

Safe Autonomous Robot Navigation in Dynamic Environments Using Reference Governor and Control Barrier Function Techniques

2023
Download Safe Autonomous Robot Navigation in Dynamic Environments Using Reference Governor and Control Barrier Function Techniques PDF Online Free

Author :
Release : 2023
Genre :
Kind : eBook
Book Rating : /5 ( reviews)

GET EBOOK


Book Synopsis Safe Autonomous Robot Navigation in Dynamic Environments Using Reference Governor and Control Barrier Function Techniques by : Zhuolin Niu

Download or read book Safe Autonomous Robot Navigation in Dynamic Environments Using Reference Governor and Control Barrier Function Techniques written by Zhuolin Niu. This book was released on 2023. Available in PDF, EPUB and Kindle. Book excerpt: This thesis considers the problem of safe navigation for autonomous mobile robots working in partially known environments with static and non-adversarial dynamic obstacles. A virtual reference governor system is designed to serve as a local regulation point for the real robot system. We calculate a safe set of the robot-governor system by actively measuring the distance from surrounding static obstacles. The motion of the governor is designed to guide the robot towards the goal, while remaining within the safe set. To avoid dynamic obstacles, a control barrier function is built to further constrain the governor-robot system away from dynamic obstacles. A quadratically constrained quadratic program (QCQP) is formulated to minimally modify the governor control input to ensure dynamic obstacle avoidance. Combining these two techniques, the robot can navigate autonomously in unknown environments--slowing down when approaching obstacles, speeding up in free space, and reacting to the position and velocity of the surrounding dynamic obstacles. Our techniques are demonstrated in simulations and real-world experiments using a ground robot equipped with LiDAR to navigate among a cluttered environment in the presence of humans.

Validation of Refining Control Barrier Functions for Hardware Applications

2023
Download Validation of Refining Control Barrier Functions for Hardware Applications PDF Online Free

Author :
Release : 2023
Genre :
Kind : eBook
Book Rating : /5 ( reviews)

GET EBOOK


Book Synopsis Validation of Refining Control Barrier Functions for Hardware Applications by : Nathan Cusson-Nadeau

Download or read book Validation of Refining Control Barrier Functions for Hardware Applications written by Nathan Cusson-Nadeau. This book was released on 2023. Available in PDF, EPUB and Kindle. Book excerpt: Control Barrier Functions (CBFs) have gained rapid popularity in the recent years as a method to verify and enforce safety properties in safety-critical controllers for autonomous systems. However, developing a valid CBF that is not overly conservative can prove to be a non-trivial task in conjunction with input constraints. Using a recently developed algorithm called RefineCBF, this task can be made easier by providing a constructive method that iteratively constructs a valid CBF using dynamic programming (DP) based reachability analysis. This work seeks to validate that RefineCBF can be used with hardware-in-the-loop by demonstrating the algorithm successfully enforcing safety online for a robotic agent. We successfully demonstrate this by showing that a three degree of freedom robot can safely reach a goal pose in the presence of obstacle with minimal violations to safety using a safety filter whose constraint is informed from RefineCBF. Additionally, we demonstrate that in scenarios where the obstacles change in time in a non-adversarial way, RefineCBF can be used to adaptively enlarge the safe set online.

Adaptive and Learning-Based Control of Safety-Critical Systems

2023-06-16 Technology & Engineering
Download Adaptive and Learning-Based Control of Safety-Critical Systems PDF Online Free

Author :
Release : 2023-06-16
Genre : Technology & Engineering
Kind : eBook
Book Rating : 10X/5 ( reviews)

GET EBOOK


Book Synopsis Adaptive and Learning-Based Control of Safety-Critical Systems by : Max Cohen

Download or read book Adaptive and Learning-Based Control of Safety-Critical Systems written by Max Cohen. This book was released on 2023-06-16. Available in PDF, EPUB and Kindle. Book excerpt: This book stems from the growing use of learning-based techniques, such as reinforcement learning and adaptive control, in the control of autonomous and safety-critical systems. Safety is critical to many applications, such as autonomous driving, air traffic control, and robotics. As these learning-enabled technologies become more prevalent in the control of autonomous systems, it becomes increasingly important to ensure that such systems are safe. To address these challenges, the authors provide a self-contained treatment of learning-based control techniques with rigorous guarantees of stability and safety. This book contains recent results on provably correct control techniques from specifications that go beyond safety and stability, such as temporal logic formulas. The authors bring together control theory, optimization, machine learning, and formal methods and present worked-out examples and extensive simulation examples to complement the mathematical style of presentation. Prerequisites are minimal, and the underlying ideas are accessible to readers with only a brief background in control-theoretic ideas, such as Lyapunov stability theory.

Verifying Cyber-Physical Systems

2021-07-13 Computers
Download Verifying Cyber-Physical Systems PDF Online Free

Author :
Release : 2021-07-13
Genre : Computers
Kind : eBook
Book Rating : 263/5 ( reviews)

GET EBOOK


Book Synopsis Verifying Cyber-Physical Systems by : Sayan Mitra

Download or read book Verifying Cyber-Physical Systems written by Sayan Mitra. This book was released on 2021-07-13. Available in PDF, EPUB and Kindle. Book excerpt: A graduate-level textbook that presents a unified mathematical framework for modeling and analyzing cyber-physical systems, with a strong focus on verification. Verification aims to establish whether a system meets a set of requirements. For such cyber-physical systems as driverless cars, autonomous spacecraft, and air-traffic management systems, verification is key to building safe systems with high levels of assurance. This graduate-level textbook presents a unified mathematical framework for modeling and analyzing cyber-physical systems, with a strong focus on verification. It distills the ideas and algorithms that have emerged from more than three decades of research and have led to the creation of industrial-scale modeling and verification techniques for cyber-physical systems. The book discusses such computer science concepts as undecidability and abstractions, alongside concepts from control theory including multiple Lyapunov functions and barrier certificates, all within a unified mathematical language. It explains algorithms for reachability analysis, counter-example guided abstraction refinement, and data-driven verification, as well as the key data structures that enable their effective implementation. Other topics include invariants, deductive verification, progress analysis, sensitivity analysis, simulation relations, fairness, model checking, satisfiability modulo theories, temporal logics, compositional reasoning, convergence analysis, asynchronous processes, and verification of black-box systems.The book provides more than twenty examples of cyber-physical verification, ranging from conceptual models to advanced driving-assist systems. Each chapter offers exercise problems; supporting materials, including slides, simulation code, additional exercises, and solutions are available on the book's website.

You may also like...