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Learning Hybrid Control Barrier Functions from Data
KTH, Skolan för elektroteknik och datavetenskap (EECS), Intelligenta system, Reglerteknik.ORCID-id: 0000-0003-3430-6625
Princeton University, Princeton University.
University of Pennsylvania, University of Pennsylvania.
University of Pennsylvania, University of Pennsylvania.
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2020 (Engelska)Ingår i: Proceedings of the 2020 Conference on Robot Learning, CoRL 2020, ML Research Press , 2020, s. 1351-1370Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

Motivated by the lack of systematic tools to obtain safe control laws for hybrid systems, we propose an optimization-based framework for learning certifiably safe control laws from data. In particular, we assume a setting in which the system dynamics are known and in which data exhibiting safe system behavior is available. We propose hybrid control barrier functions for hybrid systems as a means to synthesize safe control inputs. Based on this notion, we present an optimization-based framework to learn such hybrid control barrier functions from data. Importantly, we identify sufficient conditions on the data such that feasibility of the optimization problem ensures correctness of the learned hybrid control barrier functions, and hence the safety of the system. We illustrate our findings in two simulations studies, including a compass gait walker.

Ort, förlag, år, upplaga, sidor
ML Research Press , 2020. s. 1351-1370
Nyckelord [en]
Control Barrier Functions, Hybrid Systems, Imitation Learning
Nationell ämneskategori
Reglerteknik
Identifikatorer
URN: urn:nbn:se:kth:diva-339682Scopus ID: 2-s2.0-85175866748OAI: oai:DiVA.org:kth-339682DiVA, id: diva2:1812473
Konferens
4th Conference on Robot Learning, CoRL 2020, Virtual, Online, United States of America, Nov 16 2020 - Nov 18 2020
Anmärkning

QC 20231116

Tillgänglig från: 2023-11-16 Skapad: 2023-11-16 Senast uppdaterad: 2023-11-16Bibliografiskt granskad

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Lindemann, LarsDimarogonas, Dimos V.

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Totalt: 72 träffar
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