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Risk-Averse Control via CVaR Barrier Functions: Application to Bipedal Robot Locomotion

Ahmadi, Mohamadreza and Xiong, Xiaobin and Ames, Aaron D. (2022) Risk-Averse Control via CVaR Barrier Functions: Application to Bipedal Robot Locomotion. IEEE Control Systems Letters, 6 . pp. 878-883. ISSN 2475-1456. doi:10.1109/LCSYS.2021.3086854. https://resolver.caltech.edu/CaltechAUTHORS:20201109-140945703

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Abstract

Enforcing safety in the presence of stochastic uncertainty is a challenging problem. Traditionally, researchers have proposed safety in the statistical mean as a safety measure for systems subject to stochastic uncertainty. However, ensuring safety in the statistical mean is only reasonable if system’s safe behavior in the large number of runs is of interest, which precludes the use of mean safety in practical scenarios. In this letter, we propose a risk sensitive notion of safety called conditional-value-at-risk (CVaR) safety. We introduce CVaR barrier functions as a tool to enforce CVaR-safety and propose conditions for their Boolean compositions. Given a legacy controller, we show that we can design a minimally interfering CVaR-safe controller via solving difference convex programs (DCPs). We elucidate the proposed method by applying it to a bipedal robot locomotion case study.


Item Type:Article
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/LCSYS.2021.3086854DOIArticle
https://arxiv.org/abs/2011.01578arXivDiscussion Paper
ORCID:
AuthorORCID
Ahmadi, Mohamadreza0000-0003-1447-3012
Xiong, Xiaobin0000-0002-6275-3900
Ames, Aaron D.0000-0003-0848-3177
Alternate Title:Risk-Sensitive Path Planning via CVaR Barrier Functions: Application to Bipedal Locomotion
Additional Information:© 2021 IEEE. Manuscript received March 4, 2021; revised April 30, 2021; accepted May 24, 2021. Date of publication June 7, 2021; date of current version June 30, 2021. This work was supported by the Raytheon Technologies. Recommended by Senior Editor S. Tarbouriech.
Funders:
Funding AgencyGrant Number
Raytheon CompanyUNSPECIFIED
Subject Keywords:Autonomous systems, robotics, stochastic systems, uncertain systems
DOI:10.1109/LCSYS.2021.3086854
Record Number:CaltechAUTHORS:20201109-140945703
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20201109-140945703
Official Citation:M. Ahmadi, X. Xiong and A. D. Ames, "Risk-Averse Control via CVaR Barrier Functions: Application to Bipedal Robot Locomotion," in IEEE Control Systems Letters, vol. 6, pp. 878-883, 2022, doi: 10.1109/LCSYS.2021.3086854
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:106555
Collection:CaltechAUTHORS
Deposited By: George Porter
Deposited On:09 Nov 2020 23:25
Last Modified:06 Jul 2021 21:11

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