Risk-bounded Control using Stochastic Barrier Functions

Shakiba Yaghoubi, Keyvan Majd, Georgios Fainekos, Tomoya Yamaguchi, Danil Prokhorov, Bardh Hoxha

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we design real-time controllers that react to uncertainties with stochastic characteristics and bound the probability of a failure in finite-time to a given desired value. Stochastic control barrier functions are used to derive sufficient conditions on the control input that bound the probability that the states of the system enter an unsafe region within a finite time. These conditions are combined with reachability conditions and used in an optimization problem to find the required control actions that lead the system to a goal set. We illustrate our theoretical development using a simulation of a lane-changing scenario in a highway with dense traffic.

Original languageEnglish (US)
Title of host publication2021 American Control Conference, ACC 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1131-1136
Number of pages6
ISBN (Electronic)9781665441971
DOIs
StatePublished - May 25 2021
Event2021 American Control Conference, ACC 2021 - Virtual, New Orleans, United States
Duration: May 25 2021May 28 2021

Publication series

NameProceedings of the American Control Conference
Volume2021-May
ISSN (Print)0743-1619

Conference

Conference2021 American Control Conference, ACC 2021
Country/TerritoryUnited States
CityVirtual, New Orleans
Period5/25/215/28/21

Keywords

  • Barrier Function
  • Robotics
  • Uncertainty

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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