体積を考慮した制御バリア関数
Extent-Compatible Control Barrier Functions
ロボットの体積（広がり）を状態空間に含めて安全制約を扱う「拡張対応制御バリア関数」を提案し、SOS最適化とサンプリングベースの実装法を示した論文。
著者: Mohit Srinivasan, Matthew Abate, Gustav Nilsson, Samuel Coogan
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
Safety requirements in dynamical systems are commonly enforced with set invariance constraints over a safe region of the state space. Control barrier functions, which are Lyapunov-like functions for guaranteeing set invariance, are an effective tool to enforce such constraints and guarantee safety when the system is represented as a point in the state space. In this paper, we introduce extent-compatible control barrier functions as a tool to enforce safety for the system including its volume (extent) in the physical world. In order to implement the extent-compatible control barrier functions framework, a sum-of-squares based optimization program is proposed. Since sum-of-squares programs can be computationally prohibitive, we additionally introduce a sampling based method in order to retain the computational advantage of a traditional barrier function based quadratic program controller. We prove that the proposed sampling based controller retains the guarantee for safety. Simulation and robotic implementation results are also provided.
