到達可能性に基づく安全性をマルチエージェント計画・制御に統合
Infusing Reachability-Based Safety into Planning and Control for Multi-agent Interactions
HJ到達可能性理論を用いて、衝突回避の先読みを行うプランナと最小介入で安全を保つマルチエージェント制御器を組み合わせ、高速道路の交通シナリオで高い性能と安全性を両立できることを示した論文。
著者: Xinrui Wang, Karen Leung, Marco Pavone
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Within a robot autonomy stack, the planner and controller are typically designed separately, and serve different purposes. As such, there is often a diffusion of responsibilities when it comes to ensuring safety for the robot. We propose that a planner and controller should share the same interpretation of safety but apply this knowledge in a different yet complementary way. To achieve this, we use Hamilton-Jacobi (HJ) reachability theory at the planning level to provide the robot planner with the foresight to avoid entering regions with possible inevitable collision. However, this alone does not guarantee safety. In conjunction with this HJ reachability-infused planner, we propose a minimally-interventional multi-agent safety-preserving controller also derived via HJ-reachability theory. The safety controller maintains safety for the robot without unduly impacting planner performance. We demonstrate the benefits of our proposed approach in a multi-agent highway scenario where a robot car is rewarded to navigate through traffic as fast as possible, and we show that our approach provides strong safety assurances yet achieves the highest performance compared to other safety controllers.
