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Approximate safety enforcement using computed viability envelopes

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2 Author(s)
Kalisiak, M. ; Dept. of Comput. Sci., Toronto Univ., Ont., Canada ; van de Panne, Michiel

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. Applications are shown to several low-dimensional systems, including steering control of a vehicle constrained to a given environment geometry.

Published in:

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on  (Volume:5 )

Date of Conference:

26 April-1 May 2004