Approximate safety enforcement using computed viability envelopes

M. Kalisiak, M. van de Panne
2004 IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004  
A numerical method is proposed for the constraint of the state of a dynamical system such that it cannot enter a predefined failure region. The proposed approach to this viability problem involves an explicit numerical approximation of a viability envelope, coupled with a practical strategy for enforcing containment that is based upon a predictive look-ahead strategy. The approach can be applied to achieve automated "intervention when necessary" to enforce system safety at interactive rates.
more » ... lications are shown to several low-dimensional systems, including steering control of a vehicle constrained to a given environment geometry.
doi:10.1109/robot.2004.1302392 dblp:conf/icra/KalisiakP04 fatcat:orn7j3kjxjcxfiwrmz65gmndmi