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Barrier Functions: Bridging the Gap between Planning from Specifications and Safety-Critical Control

Nilsson, Petter and Ames, Aaron D. (2018) Barrier Functions: Bridging the Gap between Planning from Specifications and Safety-Critical Control. In: 2018 IEEE Conference on Decision and Control (CDC). IEEE , Piscataway, NJ, pp. 765-772. ISBN 978-1-5386-1395-5. http://resolver.caltech.edu/CaltechAUTHORS:20190204-130250075

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Abstract

Real-life control systems are hierarchies of interacting layers; often consisting of a planning layer, a trajectory generation layer, and a trajectory-following layer. Independently designing the layers without taking the interactions between layers into account makes it difficult to obtain safety guarantees when executing a high-level plan. In this paper we combine ideas from safety-critical control and high-level policy synthesis to develop a principled connection between a high-level planner in a low-dimensional space, and a low-level safety-critical controller acting in the full state space. We introduce a new type of simulation relation and show that barrier functions can be used to abstract a high-dimensional system via the relation. As a result, we obtain provably correct execution of high-level policies by low-level optimization-based controllers. The results are demonstrated with a quadrotor surveillance example.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/CDC.2018.8619142DOIArticle
ORCID:
AuthorORCID
Nilsson, Petter0000-0001-8748-6936
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2018 IEEE. This research was funded through the NASA JPL President’s and Director’s Fund Program. The authors would like to thank Paulo Tabuada for helpful discussions during the preparation of this work.
Funders:
Funding AgencyGrant Number
JPL President and Director's FundUNSPECIFIED
Record Number:CaltechAUTHORS:20190204-130250075
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20190204-130250075
Official Citation:P. Nilsson and A. D. Ames, "Barrier Functions: Bridging the Gap between Planning from Specifications and Safety-Critical Control," 2018 IEEE Conference on Decision and Control (CDC), FL, USA, 2018, pp. 765-772. doi: 10.1109/CDC.2018.8619142
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92631
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:04 Feb 2019 21:12
Last Modified:04 Feb 2019 21:12

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