Safe Autonomy With Control Barrier Functions
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Safe Autonomy With Control Barrier Functions
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Author : Wei Xiao
language : en
Publisher: Springer Nature
Release Date : 2023-05-09
Safe Autonomy With Control Barrier Functions written by Wei Xiao and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023-05-09 with Technology & Engineering categories.
This book presents the concept of Control Barrier Function (CBF), which captures the evolution of safety requirements during the execution of a system and can be used to enforce safety. Safety is formalized using an emerging state-of-the-art approach based on CBFs, and many illustrative examples from autonomous driving, traffic control, and robot control are provided. Safety is central to autonomous systems since they are intended to operate with minimal or no human supervision, and a single failure could result in catastrophic results. The authors discuss how safety can be guaranteed via both theoretical and application perspectives. This presented method is computationally efficient and can be easily implemented in real-time systems that require high-frequency reactive control. In addition, the CBF approach can easily deal with nonlinear models and complex constraints used in a wide spectrum of applications, including autonomous driving, robotics, and traffic control. With the proliferation of autonomous systems, such as self-driving cars, mobile robots, and unmanned air vehicles, safety plays a crucial role in ensuring their widespread adoption. This book considers the integration of safety guarantees into the operation of such systems including typical safety requirements that involve collision avoidance, technological system limitations, and bounds on real-time executions. Adaptive approaches for safety are also proposed for time-varying execution bounds and noisy dynamics.
Safe Autonomous Robot Navigation In Dynamic Environments Using Reference Governor And Control Barrier Function Techniques
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Author : Zhuolin Niu
language : en
Publisher:
Release Date : 2023
Safe Autonomous Robot Navigation In Dynamic Environments Using Reference Governor And Control Barrier Function Techniques written by Zhuolin Niu and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023 with categories.
This thesis considers the problem of safe navigation for autonomous mobile robots working in partially known environments with static and non-adversarial dynamic obstacles. A virtual reference governor system is designed to serve as a local regulation point for the real robot system. We calculate a safe set of the robot-governor system by actively measuring the distance from surrounding static obstacles. The motion of the governor is designed to guide the robot towards the goal, while remaining within the safe set. To avoid dynamic obstacles, a control barrier function is built to further constrain the governor-robot system away from dynamic obstacles. A quadratically constrained quadratic program (QCQP) is formulated to minimally modify the governor control input to ensure dynamic obstacle avoidance. Combining these two techniques, the robot can navigate autonomously in unknown environments--slowing down when approaching obstacles, speeding up in free space, and reacting to the position and velocity of the surrounding dynamic obstacles. Our techniques are demonstrated in simulations and real-world experiments using a ground robot equipped with LiDAR to navigate among a cluttered environment in the presence of humans.
Adaptive And Learning Based Control Of Safety Critical Systems
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Author : Max Cohen
language : en
Publisher: Springer Nature
Release Date : 2023-06-16
Adaptive And Learning Based Control Of Safety Critical Systems written by Max Cohen and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023-06-16 with Technology & Engineering categories.
This book stems from the growing use of learning-based techniques, such as reinforcement learning and adaptive control, in the control of autonomous and safety-critical systems. Safety is critical to many applications, such as autonomous driving, air traffic control, and robotics. As these learning-enabled technologies become more prevalent in the control of autonomous systems, it becomes increasingly important to ensure that such systems are safe. To address these challenges, the authors provide a self-contained treatment of learning-based control techniques with rigorous guarantees of stability and safety. This book contains recent results on provably correct control techniques from specifications that go beyond safety and stability, such as temporal logic formulas. The authors bring together control theory, optimization, machine learning, and formal methods and present worked-out examples and extensive simulation examples to complement the mathematical style of presentation. Prerequisites are minimal, and the underlying ideas are accessible to readers with only a brief background in control-theoretic ideas, such as Lyapunov stability theory.
Validation Of Refining Control Barrier Functions For Hardware Applications
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Author : Nathan Cusson-Nadeau
language : en
Publisher:
Release Date : 2023
Validation Of Refining Control Barrier Functions For Hardware Applications written by Nathan Cusson-Nadeau and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023 with categories.
Control Barrier Functions (CBFs) have gained rapid popularity in the recent years as a method to verify and enforce safety properties in safety-critical controllers for autonomous systems. However, developing a valid CBF that is not overly conservative can prove to be a non-trivial task in conjunction with input constraints. Using a recently developed algorithm called RefineCBF, this task can be made easier by providing a constructive method that iteratively constructs a valid CBF using dynamic programming (DP) based reachability analysis. This work seeks to validate that RefineCBF can be used with hardware-in-the-loop by demonstrating the algorithm successfully enforcing safety online for a robotic agent. We successfully demonstrate this by showing that a three degree of freedom robot can safely reach a goal pose in the presence of obstacle with minimal violations to safety using a safety filter whose constraint is informed from RefineCBF. Additionally, we demonstrate that in scenarios where the obstacles change in time in a non-adversarial way, RefineCBF can be used to adaptively enlarge the safe set online.
Verifying Cyber Physical Systems
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Author : Sayan Mitra
language : en
Publisher: MIT Press
Release Date : 2021-07-13
Verifying Cyber Physical Systems written by Sayan Mitra and has been published by MIT Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-07-13 with Computers categories.
A graduate-level textbook that presents a unified mathematical framework for modeling and analyzing cyber-physical systems, with a strong focus on verification. Verification aims to establish whether a system meets a set of requirements. For such cyber-physical systems as driverless cars, autonomous spacecraft, and air-traffic management systems, verification is key to building safe systems with high levels of assurance. This graduate-level textbook presents a unified mathematical framework for modeling and analyzing cyber-physical systems, with a strong focus on verification. It distills the ideas and algorithms that have emerged from more than three decades of research and have led to the creation of industrial-scale modeling and verification techniques for cyber-physical systems. The book discusses such computer science concepts as undecidability and abstractions, alongside concepts from control theory including multiple Lyapunov functions and barrier certificates, all within a unified mathematical language. It explains algorithms for reachability analysis, counter-example guided abstraction refinement, and data-driven verification, as well as the key data structures that enable their effective implementation. Other topics include invariants, deductive verification, progress analysis, sensitivity analysis, simulation relations, fairness, model checking, satisfiability modulo theories, temporal logics, compositional reasoning, convergence analysis, asynchronous processes, and verification of black-box systems.The book provides more than twenty examples of cyber-physical verification, ranging from conceptual models to advanced driving-assist systems. Each chapter offers exercise problems; supporting materials, including slides, simulation code, additional exercises, and solutions are available on the book's website.
Autonomous Safety Control Of Flight Vehicles
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Author : Xiang Yu
language : en
Publisher: CRC Press
Release Date : 2021-02-12
Autonomous Safety Control Of Flight Vehicles written by Xiang Yu and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-02-12 with Technology & Engineering categories.
Aerospace vehicles are by their very nature a crucial environment for safety-critical systems. By virtue of an effective safety control system, the aerospace vehicle can maintain high performance despite the risk of component malfunction and multiple disturbances, thereby enhancing aircraft safety and the probability of success for a mission. Autonomous Safety Control of Flight Vehicles presents a systematic methodology for improving the safety of aerospace vehicles in the face of the following occurrences: a loss of control effectiveness of actuators and control surface impairments; the disturbance of observer-based control against multiple disturbances; actuator faults and model uncertainties in hypersonic gliding vehicles; and faults arising from actuator faults and sensor faults. Several fundamental issues related to safety are explicitly analyzed according to aerospace engineering system characteristics; while focusing on these safety issues, the safety control design problems of aircraft are studied and elaborated on in detail using systematic design methods. The research results illustrate the superiority of the safety control approaches put forward. The expected reader group for this book includes undergraduate and graduate students but also industry practitioners and researchers. About the Authors: Xiang Yu is a Professor with the School of Automation Science and Electrical Engineering, Beihang University, Beijing, China. His research interests include safety control of aerospace engineering systems, guidance, navigation, and control of unmanned aerial vehicles. Lei Guo, appointed as "Chang Jiang Scholar Chair Professor", is a Professor with the School of Automation Science and Electrical Engineering, Beihang University, Beijing, China. His research interests include anti-disturbance control and filtering, stochastic control, and fault detection with their applications to aerospace systems. Youmin Zhang is a Professor in the Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, Québec, Canada. His research interests include fault diagnosis and fault-tolerant control, and cooperative guidance, navigation, and control (GNC) of unmanned aerial/space/ground/surface vehicles. Jin Jiang is a Professor in the Department of Electrical & Computer Engineering, Western University, London, Ontario, Canada. His research interests include fault-tolerant control of safety-critical systems, advanced control of power plants containing non-traditional energy resources, and instrumentation and control for nuclear power plants.
Safe Adaptive Trajectory Tracking Control Of Robot For Human Robot Interaction Using Barrier Function Transformation
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Author : Ashwin Dani
language : en
Publisher:
Release Date : 2020
Safe Adaptive Trajectory Tracking Control Of Robot For Human Robot Interaction Using Barrier Function Transformation written by Ashwin Dani and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020 with Technology & Engineering categories.
In this chapter, safety methods in human-robot (HR) interaction/collaboration are presented. Ensuring the safety of humans, objects, or even the robot itself in the robot,Äôs operating environment is one of the crucial aspects of collaborative robotics. Since there are limited ways of controlling the behavior of humans, e.g., by placing physical barriers, shaping the behavior of the robot is a feasible option. The chapter discusses current methods of placing barriers for human safety in an industrial setting and novel methods of placing virtual barriers by designing robot controllers using barrier transformation. The concepts of barrier functions (BFs), control barrier functions (CBFs), and barrier transformations are reviewed. The barrier transformation concept is used to design an adaptive trajectory tracking controller for the robot such that the robot does not cross the virtual barriers. The designed controller is tested in simulations. Future directions of safety technology in human-robot collaboration are presented.
Safe Autonomous And Intelligent Vehicles
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Author : Huafeng Yu
language : en
Publisher: Springer
Release Date : 2018-11-14
Safe Autonomous And Intelligent Vehicles written by Huafeng Yu and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-11-14 with Technology & Engineering categories.
This book covers the start-of-the-art research and development for the emerging area of autonomous and intelligent systems. In particular, the authors emphasize design and validation methodologies to address the grand challenges related to safety. This book offers a holistic view of a broad range of technical aspects (including perception, localization and navigation, motion control, etc.) and application domains (including automobile, aerospace, etc.), presents major challenges and discusses possible solutions.
Safe Autonomy Under Uncertainty Computation Control And Application
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Author :
language : en
Publisher:
Release Date : 2020
Safe Autonomy Under Uncertainty Computation Control And Application written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020 with categories.
Reliable And Safe Autonomy For Ground Vehicles In Unstructured Environments
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Author : James Underwood
language : en
Publisher:
Release Date : 2008
Reliable And Safe Autonomy For Ground Vehicles In Unstructured Environments written by James Underwood and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008 with Computer-aided design categories.