Model-Free Safety-Critical Control for Robotic Systems

Model-Free Safety-Critical Control for Robotic Systems. Molnar, T. G., K. Cosner, R., W. Singletary, A., Ubellacker, W., & D. Ames, A. IEEE Robotics and Automation Letters, 7(2):944–951, April, 2022.

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This paper presents a framework for the safetycritical control of robotic systems, when safety is deﬁned on safe regions in the conﬁguration space. To maintain safety, we synthesize a safe velocity based on control barrier function theory without relying on a – potentially complicated – high-ﬁdelity dynamical model of the robot. Then, we track the safe velocity with a tracking controller. This culminates in model-free safety critical control. We prove theoretical safety guarantees for the proposed method. Finally, we demonstrate that this approach is application-agnostic. We execute an obstacle avoidance task with a Segway in high-ﬁdelity simulation, as well as with a Drone and a Quadruped in hardware experiments.

@article{molnar_model-free_2022,
	title = {Model-{Free} {Safety}-{Critical} {Control} for {Robotic} {Systems}},
	volume = {7},
	issn = {2377-3766, 2377-3774},
	url = {https://ieeexplore.ieee.org/document/9652122/},
	doi = {10.1109/LRA.2021.3135569},
	abstract = {This paper presents a framework for the safetycritical control of robotic systems, when safety is deﬁned on safe regions in the conﬁguration space. To maintain safety, we synthesize a safe velocity based on control barrier function theory without relying on a – potentially complicated – high-ﬁdelity dynamical model of the robot. Then, we track the safe velocity with a tracking controller. This culminates in model-free safety critical control. We prove theoretical safety guarantees for the proposed method. Finally, we demonstrate that this approach is application-agnostic. We execute an obstacle avoidance task with a Segway in high-ﬁdelity simulation, as well as with a Drone and a Quadruped in hardware experiments.},
	language = {en},
	number = {2},
	urldate = {2022-05-26},
	journal = {IEEE Robotics and Automation Letters},
	author = {Molnar, Tamas G. and K. Cosner, Ryan and W. Singletary, Andrew and Ubellacker, Wyatt and D. Ames, Aaron},
	month = apr,
	year = {2022},
	pages = {944--951},
}

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