パラメータ条件付き到達可能集合による安全性保証のオンライン更新
Parameter-Conditioned Reachable Sets for Updating Safety Assurances Online
システムや環境の変化をパラメータとして扱い、高次元到達可能性解析でオフライン計算した到達可能集合群からオンラインで安全性関数を取得し、リアルタイムに安全保証を更新する手法を提案。
著者: Javier Borquez, Kensuke Nakamura, Somil Bansal
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Hamilton-Jacobi (HJ) reachability analysis is a powerful tool for analyzing the safety of autonomous systems. However, the provided safety assurances are often predicated on the assumption that once deployed, the system or its environment does not evolve. Online, however, an autonomous system might experience changes in system dynamics, control authority, external disturbances, and/or the surrounding environment, requiring updated safety assurances. Rather than restarting the safety analysis from scratch, which can be time-consuming and often intractable to perform online, we propose to compute \textit{parameter-conditioned} reachable sets. Assuming expected system and environment changes can be parameterized, we treat these parameters as virtual states in the system and leverage recent advances in high-dimensional reachability analysis to solve the corresponding reachability problem offline. This results in a family of reachable sets that is parameterized by the environment and system factors. Online, as these factors change, the system can simply query the corresponding safety function from this family to ensure system safety, enabling a real-time update of the safety assurances. Through various simulation studies, we demonstrate the capability of our approach in maintaining system safety despite the system and environment evolution.
