Probabilistic Safety Constraints for Learned High Relative Degree System Dynamics

12/20/2019 ∙ by Mohammad Javad Khojasteh, et al. ∙ 0

This paper focuses on learning a model of system dynamics online while satisfying safety constraints. Our motivation is to avoid offline system identification or hand-specified dynamics models and allow a system to safely and autonomously estimate and adapt its own model during online operation. Given streaming observations of the system state, we use Bayesian learning to obtain a distribution over the system dynamics. In turn, the distribution is used to optimize the system behavior and ensure safety with high probability, by specifying a chance constraint over a control barrier function.



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