音リスク認識を組み込んだ制御バリア関数による建設現場でのロボット安全ナビゲーション
Control Barrier Functions with Audio Risk Awareness for Robot Safe Navigation on Construction Sites
建設現場のような動的で見通しの悪い環境で、音から得たリスク情報(削岩機の検出)を制御バリア関数に組み込み、障害物回避の安全性を保証しつつ安全マージンを適応させるナビゲーション手法を提案した。
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著者: Johannes Mootz, Reza Akhavian
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Construction automation increasingly requires autonomous mobile robots, yet robust autonomy remains challenging on construction sites. These environments are dynamic and often visually occluded, which complicates perception and navigation. In this context, valuable information from audio sources remains underutilized in most autonomy stacks. This work presents a control barrier function (CBF)-based safety filter that provides safety guarantees for obstacle avoidance while adapting safety margins during navigation using an audio-derived risk cue. The proposed framework augments the CBF with a lightweight, real-time jackhammer detector based on signal envelope and periodicity. Its output serves as an exogenous risk that is directly enforced in the controller by modulating the barrier function. The approach is evaluated in simulation with two CBF formulations (circular and goal-aligned elliptical) with a unicycle robot navigating a cluttered construction environment. Results show that the CBF safety filter eliminates safety violations across all trials while reaching the target in 40.2% (circular) vs. 76.5% (elliptical), as the elliptical formulation better avoids deadlock. This integration of audio perception into a CBF-based controller demonstrates a pathway toward richer multimodal safety reasoning in autonomous robots for safety-critical and dynamic environments.
