Core Concepts
Utilizing Freedman’s inequality in discrete-time control barrier functions provides stronger safety guarantees for stochastic systems.
Abstract
Safety in real-world control methods must consider uncertainties.
Traditional methods lead to conservative performance.
Stochastic methods consider the entire distribution of disturbances.
Utilizing Freedman’s inequality provides tighter bounds on safety.
Comparison with existing safety guarantees like ISSf and martingale results.
Simulation examples demonstrate the utility of the safety guarantee.
Stats
"Our approach accounts for the underlying disturbance distribution instead of relying exclusively on its worst-case bound."
"Our guarantee is less conservative when the assumptions for all methods hold."
"Our theory provides sharp safety probability bounds, enabling non-conservative, stochastic collision avoidance."
Quotes
"Safety—typically characterized as the forward-invariance of a safe set—has become a popular area of study within control theory."
"Stochastic methods provide an alternative to the worst-case bounding approach."
"This paper combines DTCBFs with Freedman’s inequality to obtain tighter bounds on stochastic safety."