Safety verification of reactive controllers for UAV flight in cluttered environments using barrier certificates

Andrew J. Barry, Anirudha Majumdar, Russ Tedrake

Research output: Chapter in Book/Report/Conference proceedingConference contribution

22 Scopus citations

Abstract

Unmanned aerial vehicles (UAVs) have a so-far untapped potential to operate at high speeds through cluttered environments. Many of these systems are limited by their adhoc reactive controllers using simple visual cues like optical flow. Here we consider the problem of formally verifying an output-feedback controller for an aircraft operating in an unknown environment. Using recent advances in sums-of-squares programming that allow for efficient computation of barrier functions, we search for global certificates of safety for the closed-loop system in a given environment. In contrast to previous work, we use rational functions to globally approximate non-smooth dynamics and use multiple barrier functions to guard against more than one obstacle. We expect that these formal verification techniques will allow for the comparison, and ultimately optimization, of reactive controllers for robustness to varying initial conditions and environments.

Original languageEnglish (US)
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages484-490
Number of pages7
ISBN (Print)9781467314039
DOIs
StatePublished - Jan 1 2012
Externally publishedYes
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: May 14 2012May 18 2012

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CountryUnited States
CitySaint Paul, MN
Period5/14/125/18/12

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Barry, A. J., Majumdar, A., & Tedrake, R. (2012). Safety verification of reactive controllers for UAV flight in cluttered environments using barrier certificates. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 484-490). [6225351] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6225351