DeepAI
Log In Sign Up

Synthesis of Control Barrier Functions Using a Supervised Machine Learning Approach

03/10/2020
by   Mohit Srinivasan, et al.
0

Control barrier functions are mathematical constructs used to guarantee safety for robotic systems. When integrated as constraints in a quadratic programming optimization problem, instantaneous control synthesis with real-time performance demands can be achieved for robotics applications. Prevailing use has assumed full knowledge of the safety barrier functions, however there are cases where the safe regions must be estimated online from sensor measurements. In these cases, the corresponding barrier function must be synthesized online. This paper describes a learning framework for estimating control barrier functions from sensor data. Doing so affords system operation in unknown state space regions without compromising safety. Here, a support vector machine classifier provides the barrier function specification as determined by sets of safe and unsafe states obtained from sensor measurements. Theoretical safety guarantees are provided. Experimental ROS-based simulation results for an omnidirectional robot equipped with LiDAR demonstrate safe operation.

READ FULL TEXT

page 1

page 2

page 3

page 4

10/11/2022

Geometry of Radial Basis Neural Networks for Safety Biased Approximation of Unsafe Regions

Barrier function-based inequality constraints are a means to enforce saf...
03/29/2022

Gaussian Control Barrier Functions : A Non-Parametric Paradigm to Safety

Inspired by the success of control barrier functions (CBFs) in addressin...
01/20/2020

Extent-Compatible Control Barrier Functions

Safety requirements in dynamical systems are commonly enforced with set ...
07/01/2021

Formal verification of octorotor flight envelope using barrier functions and SMT solving

This paper introduces an approach for formally verifying the safety of t...
12/30/2021

Risk-Bounded Control with Kalman Filtering and Stochastic Barrier Functions

In this paper, we study Stochastic Control Barrier Functions (SCBFs) to ...
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...
04/26/2022

Refining Control Barrier Functions through Hamilton-Jacobi Reachability

Safety filters based on Control Barrier Functions (CBFs) have emerged as...