Core Concepts
The author presents a safety-critical control framework leveraging learning-based switching between multiple backup controllers to ensure robot safety under bounded control inputs while adhering to driver intention.
Abstract
The content discusses a framework for safe human-robot collaboration using multiple backup control barrier functions. It introduces the concept of backup controllers designed to maintain safety and input constraints, emphasizing the importance of conservativeness in choosing these controllers. The paper proposes a broadcast scheme integrating BCBFs with multiple backup strategies based on driver intention estimation using an LSTM classifier. Experimental results on obstacle avoidance scenarios demonstrate the efficacy of the proposed method in guaranteeing robot safety while aligning with driver intention. The implementation involves deep neural networks, LSTM models, and DNN decoders to learn rewards corresponding to each backup controller choice. Hardware details and results from tracked robot experiments are provided, showcasing successful trajectory predictions and formal safety guarantees during switches between backup controllers.
Stats
"Our network achieves 97% accuracy by the 30th epoch."
"We achieved this accuracy on a dataset of 19000 datapoints collected on hardware."
"The sequence length for the training samples of the model was chosen to be 15 timesteps."
Quotes
"We demonstrate our method’s efficacy on a dual-track robot in obstacle avoidance scenarios."
"Our framework guarantees robot safety while adhering to driver intention."