论文标题

眼睛关闭的安全核:丧失可观察性的自主系统安全性

Eyes-Closed Safety Kernels: Safety for Autonomous Systems Under Loss of Observability

论文作者

Laine, Forrest, Chiu, Chiu-Yuan, Tomlin, Claire

论文摘要

提出了一个框架,用于以可证明的安全方式处理动态系统的可观察性丧失。受自动驾驶汽车使用的数据驱动感知系统的脆弱性的启发,我们提出了当感应方式失败或发现在自主操作过程中不可信的问题。我们将这个问题抛出,因为正在控制的动态系统与丢失观测值的外部系统因素之间进行了差异游戏。该游戏是一个零和stackelberg游戏,其中受控系统(领导者)试图找到一种轨迹,该轨迹最大化代表系统安全性的功能,而未观察到的因子(自行车)试图最大程度地减少相同的功能。对于受控系统,该游戏的初始配置的赢得一组代表了所有状态的集合,即使丢失了该因素的可观察性,也可以保持安全性相对于外部因素。这是我们称之为眼睛闭合的安全核的套件。在实际使用中,只有在丢失外部系统的可观察性或由于其他非安全控制方案而偏离眼睛关闭的安全核,才需要执行受控系统的获胜策略所定义的策略。我们提出了一种脱机解决此游戏的方法,以便可以在需要时将产生的获胜策略用于计算高效,可证明的在线控制。提出的解决方案方法是基于使用两个汉密尔顿 - 雅各比局部偏微分方程的解决方案来表示游戏的。我们通过通过一个现实的例子来说明我们框架的适用性,在该例子中,尽管有可能失去观察力,但自动驾驶汽车必须避免动态障碍。

A framework is presented for handling a potential loss of observability of a dynamical system in a provably-safe way. Inspired by the fragility of data-driven perception systems used by autonomous vehicles, we formulate the problem that arises when a sensing modality fails or is found to be untrustworthy during autonomous operation. We cast this problem as a differential game played between the dynamical system being controlled and the external system factor(s) for which observations are lost. The game is a zero-sum Stackelberg game in which the controlled system (leader) is trying to find a trajectory which maximizes a function representing the safety of the system, and the unobserved factor (follower) is trying to minimize the same function. The set of winning initial configurations of this game for the controlled system represent the set of all states in which safety can be maintained with respect to the external factor, even if observability of that factor is lost. This is the set we refer to as the Eyes-Closed Safety Kernel. In practical use, the policy defined by the winning strategy of the controlled system is only needed to be executed whenever observability of the external system is lost or the system deviates from the Eyes-Closed Safety Kernel due to other, non-safety oriented control schemes. We present a means for solving this game offline, such that the resulting winning strategy can be used for computationally efficient, provably-safe, online control when needed. The solution approach presented is based on representing the game using the solutions of two Hamilton-Jacobi partial differential equations. We illustrate the applicability of our framework by working through a realistic example in which an autonomous car must avoid a dynamic obstacle despite potentially losing observability.

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