Model Free Barrier Functions via Implicit Evading Maneuvers

07/27/2021
by   Eric Squires, et al.
2

This paper demonstrates that in some cases the safety override arising from the use of a barrier function can be needlessly restrictive. In particular, we examine the case of fixed wing collision avoidance and show that when using a barrier function, there are cases where two fixed wing aircraft can come closer to colliding than if there were no barrier function at all. In addition, we construct cases where the barrier function labels the system as unsafe even when the vehicles start arbitrarily far apart. In other words, the barrier function ensures safety but with unnecessary costs to performance. We therefore introduce model free barrier functions which take a data driven approach to creating a barrier function. We demonstrate the effectiveness of model free barrier functions in a collision avoidance simulation of two fixed-wing aircraft.

READ FULL TEXT
POST COMMENT

Comments

There are no comments yet.

Authors

page 1

page 2

page 3

page 4

12/20/2019

Multi-Robot Collision Avoidance under Uncertainty with Probabilistic Safety Barrier Certificates

Collision avoidance for multi-robot systems is a difficult challenge und...
06/10/2019

Composition of Safety Constraints With Applications to Decentralized Fixed-Wing Collision Avoidance

In this paper we discuss how to construct a barrier certificate for a co...
04/05/2021

Robust optimization Design of a New Combined Median Barrier Based on Taguchi method and Grey Relational Analysis

Accidents that vehicles cross median and enter opposite lane happen freq...
06/24/2021

Comparison between safety methods control barrier function vs. reachability analysis

This report aims to compare two safety methods: control barrier function...
10/19/2020

Comparative Analysis of Control Barrier Functions and Artificial Potential Fields for Obstacle Avoidance

Artificial potential fields (APFs) and their variants have been a staple...
09/06/2019

Robust Barrier Functions for a Fully Autonomous, Remotely Accessible Swarm-Robotics Testbed

The Robotarium, a remotely accessible swarm-robotics testbed, has provid...
05/29/2021

Synthesizing Invariant Barrier Certificates via Difference-of-Convex Programming

A barrier certificate often serves as an inductive invariant that isolat...
This week in AI

Get the week's most popular data science and artificial intelligence research sent straight to your inbox every Saturday.