Probabilistic Safety Constraints for Learned High Relative Degree System Dynamics
2019-12-20L4DC 2020Code Available1· sign in to hype
Mohammad Javad Khojasteh, Vikas Dhiman, Massimo Franceschetti, Nikolay Atanasov
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- github.com/wecacuee/Bayesian_CBFOfficialpytorch★ 29
Abstract
This paper focuses on learning a model of system dynamics online while satisfying safety constraints.Our motivation is to avoid offline system identification or hand-specified dynamics models and allowa system to safely and autonomously estimate and adapt its own model during online operation.Given streaming observations of the system state, we use Bayesian learning to obtain a distributionover the system dynamics. In turn, the distribution is used to optimize the system behavior andensure safety with high probability, by specifying a chance constraint over a control barrier function.