Related papers: Run Time Assurance for Simultaneous Constraint Sat…
As autonomous systems become more prevalent in the real world, it is critical to ensure they operate safely. One approach is the use of Run Time Assurance (RTA), which is a real-time safety assurance technique that monitors a primary…
Run Time Assurance (RTA) systems are online safety verification techniques that filter the output of a primary controller to assure safety. RTA approaches are used in safety-critical control to intervene when a performance-driven primary…
The trial and error approach of reinforcement learning (RL) results in high performance across many complex tasks, but it can also lead to unsafe behavior. Run time assurance (RTA) approaches can be used to assure safety of the agent during…
Run Time Assurance (RTA) Systems are online verification mechanisms that filter an unverified primary controller output to ensure system safety. The primary control may come from a human operator, an advanced control approach, or an…
On-orbit spacecraft inspection is an important capability for enabling servicing and manufacturing missions and extending the life of spacecraft. However, as space operations become increasingly more common and complex, autonomous control…
A runtime assurance system (RTA) for a given plant enables the exercise of an untrusted or experimental controller while assuring safety with a backup (or safety) controller. The relevant computational design problem is to create a logic…
Recent advances in artificial intelligence and machine learning may soon yield paradigm-shifting benefits for aerospace systems. However, complexity and possible continued on-line learning makes neural network control systems (NNCS)…
With the rise of increasingly complex autonomous systems powered by black box AI models, there is a growing need for Run Time Assurance (RTA) systems that provide online safety filtering to untrusted primary controller output. Currently,…
As the number of spacecraft on orbit continues to grow, it is challenging for human operators to constantly monitor and plan for all missions. Autonomous control methods such as reinforcement learning (RL) have the power to solve complex…
Runtime assurance (RTA) addresses the problem of keeping an autonomous system safe while using an untrusted (or experimental) controller. This can be done via logic that explicitly switches between the untrusted controller and a safety…
The airworthiness and safety of a non-pedigreed autopilot must be verified, but the cost to formally do so can be prohibitive. We can bypass formal verification of non-pedigreed components by incorporating Runtime Safety Assurance (RTSA) as…
The recent drive towards achieving greater autonomy and intelligence in robotics has led to high levels of complexity. Autonomous robots increasingly depend on third party off-the-shelf components and complex machine-learning techniques.…
Reinforcement Learning (RL) has become an increasingly important research area as the success of machine learning algorithms and methods grows. To combat the safety concerns surrounding the freedom given to RL agents while training, there…
The spacecraft attitude tracking problem is addressed with actuator faults and uncertainties among inertias, external disturbances, and, in particular, state estimates. A continuous sliding mode attitude controller is designed using…
Autonomous systems increasingly rely on machine-learning (ML) components for safety-critical tasks such as perception and control in autonomous vehicles (AVs). While ML enables essential capabilities, it inevitably exhibits long-tail faults…
Safety-critical failures often have fatal consequences in aerospace control. Control systems on aircraft, therefore, must ensure the strict satisfaction of safety constraints, preferably with formal guarantees of safe behavior. This paper…
This research considers the problem of identifying safety constraints and developing Run Time Assurance (RTA) for Deep Reinforcement Learning (RL) Tactical Autopilots that use neural network control systems (NNCS). This research studies a…
This paper investigates the attitude control problem of spacecraft, with the objective of achieving precise performance criteria including precise settling time, steady-state error, and overshoot elimination. To tackle this challenge, we…
Sampling-based motion planning has emerged as a powerful approach for robotics, enabling exploration of complex, high-dimensional configuration spaces. When combined with Signal Temporal Logic (STL), a temporal logic widely used for…
Self-adaptive systems (SASs) are capable of adjusting its behavior in response to meaningful changes in the operational con-text and itself. The adaptation needs to be performed automatically through self-managed reactions and…