相关论文: Formal verification of octorotor flight envelope u…

Obstacle avoidance of quadrotors in dynamic environments is still a very open problem. Current works commonly leverage traditional static maps to represent static obstacles and the detection and tracking of moving objects (DATMO) method to…

In this paper, we focus on non-conservative collision avoidance between robots and obstacles with control affine dynamics and convex shapes. System safety is defined using the minimum distance between the safe regions associated with robots…

Model-based reinforcement learning (RL) has emerged as a promising tool for developing controllers for real world systems (e.g., robotics, autonomous driving, etc.). However, real systems often have constraints imposed on their state space…

In this paper, a new hierarchical software architecture is proposed to improve the safety and reliability of a safety-critical drone system from the perspective of its source code. The proposed architecture uses formal verification methods…

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…

Barrier certificates are scalar functions over the state space of dynamical systems that separate all unsafe states from all reachable states. The existence of a barrier certificate formally verifies the safety of the dynamical system.…

In trajectory planning and control design for unmanned air vehicles, highly simplified models are typically used to represent the vehicle dynamics and the operating environment. The goal of this work is to perform real-time, but realistic…

This paper presents a novel methodology to enforce motion safety guarantees even in the event of a sudden loss of control capabilities by any agent within a multi-agent system. This passive safety methodology permits the replacement of…

To effectively control complex dynamical systems, accurate nonlinear models are typically needed. However, these models are not always known. In this paper, we present a data-driven approach based on Gaussian processes that learns models of…

This paper presents a method of validation of the size of the largest collision-free sphere (CFS) of a 6-6 Stewart-Gough platform manipulator (SGPM) for a given orientation of its moving platform (MP) using the Application Programming…

Deep reinforcement learning (RL) has shown promising results in the motion planning of manipulators. However, no method guarantees the safety of highly dynamic obstacles, such as humans, in RL-based manipulator control. This lack of formal…

This paper considers the problem of reachability analysis of control systems with optimal controllers, as a first step towards verifying the safety and correctness of such systems. Despite their appeal in guaranteeing task satisfaction…

We consider the problem of verifying safety for a pair of identical integrator agents in continuous time with compact set-valued input uncertainties. We encode this verification problem as that of certifying or falsifying the intersection…

Safety is one of the fundamental challenges in control theory. Recently, multi-step optimal control problems for discrete-time dynamical systems were formulated to enforce stability, while subject to input constraints as well as…

This work proposes a saturated robust controller for a fully actuated multirotor that takes disturbance rejection and rotor thrust saturation into account. A disturbance rejection controller is required to prevent performance degradation in…

We address the problem of robust safety control design for double integrator systems. We show that, when the constraints are defined only on position states, it is possible to construct a safe sliding domain from the dynamic of a simple…

This paper presents a robot control algorithm suitable for safe reactive navigation tasks in cluttered environments. The proposed approach consists of transforming the robot workspace into the \emph{ball world}, an artificial representation…

This work presents a theoretical framework for the safety-critical control of time delay systems. The theory of control barrier functions, that provides formal safety guarantees for delay-free systems, is extended to systems with state…

This paper presents a control law for stabilization and trajectory tracking of a multicopter subject to safety constraints. The proposed approach guarantees forward invariance of a prescribed safety set while ensuring smooth tracking…

Performing acrobatic maneuvers with quadrotors is extremely challenging. Acrobatic flight requires high thrust and extreme angular accelerations that push the platform to its physical limits. Professional drone pilots often measure their…