Corpus ID: 214774958

Safe Feedback Motion Planning: A Contraction Theory and $\mathcal{L}_1$-Adaptive Control Based Approach

@inproceedings{Lakshmanan2020SafeFM,
  title={Safe Feedback Motion Planning: A Contraction Theory and \$\mathcal\{L\}_1\$-Adaptive Control Based Approach},
  author={Arun Lakshmanan and Aditya Gahlawat and Naira Hovakimyan},
  year={2020}
}
  • Arun Lakshmanan, Aditya Gahlawat, Naira Hovakimyan
  • Published 2020
  • Engineering, Computer Science
  • Autonomous robots that are capable of operating safely in the presence of imperfect model knowledge or external disturbances are vital in safety-critical applications. In this paper, we present a planner-agnostic framework to design and certify safe tubes around desired trajectories that the robot is always guaranteed to remain inside of. By leveraging recent results in contraction analysis and $\mathcal{L}_1$-adaptive control we synthesize an architecture that induces safe tubes for nonlinear… CONTINUE READING

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