A Reachability-based Safety Certificate for Dynamical System Motion Policies

What happened

A Reachability-based Safety Certificate for Dynamical System Motion Policies, according to arXiv Robotics (cs.RO). To ensure safety during deployment in unknown environments they must be locally reshaped, either through modulation or geometric control barrier function strategies. However, depending on the geometry of the obstacles and the complexity of the DS, these local strategies can lead the system to unavoidable collisions or spurious attractors.

Usually, such a value function is intractable for a controlled system due to curse of dimensionality. The application of this certificate function is validated across five DS constructions - analytical, Neural ODE, diffeomorphic latent space, LPV-DS, SE(3)and validate it on a Franka manipulator. Modulation and geometric CBFs also suffer from saddle point in cases of headon approach towards an unsafe zone.