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Risk-Sensitive Path Planning via CVaR Barrier Functions: Application to Bipedal Locomotion

Ahmadi, Mohamadreza and Xiong, Xiaobin and Ames, Aaron D. (2020) Risk-Sensitive Path Planning via CVaR Barrier Functions: Application to Bipedal Locomotion. . (Unpublished)

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Enforcing safety of robotic systems in the presence of stochastic uncertainty is a challenging problem. Traditionally,researchers have proposed safety in the statistical mean as a safety measure in this case. However, ensuring safety in the statistical mean is only reasonable if robot safe behavior in the large number of runs is of interest, which precludes the use of mean safety in practical scenarios. In this paper, we propose a risk sensitive notion of safety called conditional-value-at-risk (CVaR) safety, which is concerned with safe performance in the worst case realizations. We introduce CVaR barrier functions asa 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. We elucidate the proposed method by applying it to a bipedal locomotion case study.

Item Type:Report or Paper (Discussion Paper)
Related URLs:
URLURL TypeDescription Paper
Ahmadi, Mohamadreza0000-0003-1447-3012
Xiong, Xiaobin0000-0002-6275-3900
Ames, Aaron D.0000-0003-0848-3177
Record Number:CaltechAUTHORS:20201109-140945703
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:106555
Deposited By: George Porter
Deposited On:09 Nov 2020 23:25
Last Modified:09 Nov 2020 23:25

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