Safety Under Uncertainty: Tight Bounds with Risk-Aware Control Barrier Functions.

Mitchell Black Georgios Fainekos Bardh Hoxha Danil V. Prokhorov Dimitra Panagou

ICRA

@inproceedings{DBLP:conf/icra/BlackFHPP23,
  author       = {Mitchell Black and
                  Georgios Fainekos and
                  Bardh Hoxha and
                  Danil V. Prokhorov and
                  Dimitra Panagou},
  title        = {Safety Under Uncertainty: Tight Bounds with Risk-Aware Control Barrier
                  Functions},
  booktitle    = {{IEEE} International Conference on Robotics and Automation, {ICRA}
                  2023, London, UK, May 29 - June 2, 2023},
  pages        = {12686--12692},
  publisher    = {{IEEE}},
  year         = {2023},
  url          = {https://doi.org/10.1109/ICRA48891.2023.10161379},
  doi          = {10.1109/ICRA48891.2023.10161379},
  timestamp    = {Sun, 06 Oct 2024 21:06:22 +0200},
  biburl       = {https://dblp.org/rec/conf/icra/BlackFHPP23.bib},
  bibsource    = {dblp computer science bibliography, https://dblp.org}
}

Abstract

We propose a novel class of risk-aware control barrier functions (RA-CBFs) for the control of stochastic safety-critical systems. Leveraging a result from the stochastic level-crossing literature, we deviate from the martingale theory that is currently used in stochastic CBF techniques and prove that a RA-CBF based control synthesis confers a tighter upper bound on the probability of the system becoming unsafe within a finite time interval than existing approaches. We highlight the advantages of our proposed approach over the state-of-the-art via a comparative study on an mobile-robot example, and further demonstrate its viability on an autonomous vehicle highway merging problem in dense traffic.

Authors

Dimitra Panagou

link /

Bib

@inproceedings{DBLP:conf/icra/BlackFHPP23,
  author       = {Mitchell Black and
                  Georgios Fainekos and
                  Bardh Hoxha and
                  Danil V. Prokhorov and
                  Dimitra Panagou},
  title        = {Safety Under Uncertainty: Tight Bounds with Risk-Aware Control Barrier
                  Functions},
  booktitle    = {{IEEE} International Conference on Robotics and Automation, {ICRA}
                  2023, London, UK, May 29 - June 2, 2023},
  pages        = {12686--12692},
  publisher    = {{IEEE}},
  year         = {2023},
  url          = {https://doi.org/10.1109/ICRA48891.2023.10161379},
  doi          = {10.1109/ICRA48891.2023.10161379},
  timestamp    = {Sun, 06 Oct 2024 21:06:22 +0200},
  biburl       = {https://dblp.org/rec/conf/icra/BlackFHPP23.bib},
  bibsource    = {dblp computer science bibliography, https://dblp.org}
}