ICRA 2012 Paper Abstract

Close

Paper TuB01.3

Barry, Andrew J. (Massachusetts Institute of Technology), Majumdar, Anirudha (Massachusetts Institute of Technology), Tedrake, Russ (Massachusetts Institute of Technology)

Safety Verification of Reactive Controllers for UAV Flight in Cluttered Environments Using Barrier Certificates

Scheduled for presentation during the Regular Session "Control and Planning for UAVs" (TuB01), Tuesday, May 15, 2012, 11:00−11:15, Meeting Room 1 (Mini-sota)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on December 13, 2017

Keywords Aerial Robotics, Formal Methods for Robotics and Automation, Robust/Adaptive Control of Robotic Systems

Abstract

Unmanned aerial vehicles (UAVs) have a so-far untapped potential to operate at high speeds through cluttered environments. Many of these systems are limited by their ad-hoc reactive controllers using simple visual cues like optical flow. Here we consider the problem of formally verifying an output-feedback controller for an aircraft operating in an unknown environment. Using recent advances in sums-of-squares programming that allow for efficient computation of barrier functions, we search for global certificates of safety for the closed-loop system in a given environment. In contrast to previous work, we use rational functions to globally approximate non-smooth dynamics and use multiple barrier functions to guard against more than one obstacle. We expect that these formal verification techniques will allow for the comparison, and ultimately optimization, of reactive controllers for robustness to varying initial conditions and environments.

 

 

Technical Content © IEEE Robotics & Automation Society

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2017 PaperCept, Inc.
Page generated 2017-12-13  22:07:11 PST  Terms of use