DeepAI AI Chat
Log In Sign Up

Model Free Barrier Functions via Implicit Evading Maneuvers

by   Eric Squires, et al.

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.


page 1

page 2

page 3

page 4


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

Collision avoidance for multi-robot systems is a difficult challenge und...

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...

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...

Semiparametric Estimation of Optimal Dividend Barrier for Spectrally Negative Lévy Process

We disucss a statistical estimation problem of an optimal dividend barri...

Control Barrier Functions in UGVs for Kinematic Obstacle Avoidance: A Collision Cone Approach

In this paper, we propose a new class of Control Barrier Functions (CBFs...

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

Artificial potential fields (APFs) and their variants have been a staple...

Comparison between safety methods control barrier function vs. reachability analysis

This report aims to compare two safety methods: control barrier function...