“provably safe” in the wild: Testing control barrier functions on a vision-based quadrotor in an outdoor environment

C Ho, K Shih, JS Grover, C Liu… - 2nd RSS Workshop on …, 2020 - openreview.net
2nd RSS Workshop on Robust Autonomy: Tools for Safety in Real-World …, 2020openreview.net
As quadrotors are increasingly deployed into highly dynamic, safety-critical applications, we
must develop safe control methods that work under real-world, uncertain conditions.
However, most control methods that guarantee safety are tested either in simulation or in
heavily-controlled lab settings, with limited experimentation done in the real world. We wish
to identify key roadblocks to deploying safe control methods in the wild. We implement a
safe controller using exponential control barrier functions on a quadrotor system with …
As quadrotors are increasingly deployed into highly dynamic, safety-critical applications, we must develop safe control methods that work under real-world, uncertain conditions. However, most control methods that guarantee safety are tested either in simulation or in heavily-controlled lab settings, with limited experimentation done in the real world. We wish to identify key roadblocks to deploying safe control methods in the wild. We implement a safe controller using exponential control barrier functions on a quadrotor system with onboard computing and visual state estimation. We perform a series of 16 field tests, of which 4 fail to maintain safety. Key reasons for failure include sudden state estimation error, unaccounted for exogenous disturbances, and a response delay to commanded acceleration. Finally, we propose future work to bring guaranteed-safe methods into the real world.
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