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Model-Free Safety-Critical Control for Robotic Systems

Molnár, Tamás G. and Cosner, Ryan K. and Singletary, Andrew W. and Ubellacker, Wyatt and Ames, Aaron D. (2022) Model-Free Safety-Critical Control for Robotic Systems. IEEE Robotics and Automation Letters, 7 (2). pp. 944-951. ISSN 2377-3766. doi:10.1109/lra.2021.3135569. https://resolver.caltech.edu/CaltechAUTHORS:20220107-191565600

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Abstract

This letter presents a framework for the safety-critical control of robotic systems, when safety is defined on safe regions in the configuration space. To maintain safety, we synthesize a safe velocity based on control barrier function theory without relying on a – potentially complicated – high-fidelity dynamical model of the robot. Then, we track the safe velocity with a tracking controller. This culminates in model-free safety critical control . We prove theoretical safety guarantees for the proposed method. Finally, we demonstrate that this approach is application-agnostic. We execute an obstacle avoidance task with a Segway in high-fidelity simulation, as well as with a Drone and a Quadruped in hardware experiments.


Item Type:Article
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/lra.2021.3135569DOIArticle
https://arxiv.org/abs/2109.09047arXivDiscussion Paper
ORCID:
AuthorORCID
Molnár, Tamás G.0000-0002-9379-7121
Cosner, Ryan K.0000-0002-4035-1425
Singletary, Andrew W.0000-0001-6635-4256
Ubellacker, Wyatt0000-0002-4732-6185
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2021 IEEE. Manuscript received September 9, 2021; accepted December 7, 2021. Date of publication December 15, 2021; date of current version December 27, 2021. This letter was recommended for publication by Associate Editor Ryan James and Editor Clement Gosselin upon evaluation of the reviewers’ comments. This work was supported in part by the National Science Foundation under CPS Award #1932091, in part by Dow under project #227027AT, and in part by Aerovironment.
Funders:
Funding AgencyGrant Number
NSFCNS-1932091
Dow Chemical Company227027AT
AerovironmentUNSPECIFIED
Subject Keywords:Dynamics, Motion Control, Robot Safety
Issue or Number:2
DOI:10.1109/lra.2021.3135569
Record Number:CaltechAUTHORS:20220107-191565600
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20220107-191565600
Official Citation:T. G. Molnar, R. K. Cosner, A. W. Singletary, W. Ubellacker and A. D. Ames, "Model-Free Safety-Critical Control for Robotic Systems," in IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 944-951, April 2022, doi: 10.1109/LRA.2021.3135569
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:112798
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:09 Jan 2022 21:05
Last Modified:09 Jan 2022 21:05

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