Corpus ID: 237572194

Model-Free Safety-Critical Control for Robotic Systems

@article{Molnr2021ModelFreeSC,
  title={Model-Free Safety-Critical Control for Robotic Systems},
  author={Tam{\'a}s G. Moln{\'a}r and Ryan K. Cosner and Andrew W. Singletary and Wyatt Ubellacker and A. Ames},
  journal={ArXiv},
  year={2021},
  volume={abs/2109.09047}
}
This paper presents a framework for the safetycritical control of robotic systems, when safety is defined on safe regions in the configuration space. To maintain safety, we synthesize a safe velocity based on control barrier function theory without relying on a – potentially complicated – high-fidelity dynamical model of the robot. Then, we track the safe velocity with a tracking controller. This culminates in model-free safety critical control. We prove theoretical safety guarantees for the… Expand

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