Real-Time Certified, Safe Control Synthesis for Autonomous Systems
Abstract
The objective of this proposal is to develop a framework that is able to simultaneously certify the safety and real-time operation of a numerically generated controller for an autonomous system that operates in uncertain environments. Research Problem: To ensure their widespread adoption, autonomous agents must be able to act reliably in a variety of conditions that are impossible to model perfectly. Guaranteeing the robust operation of such agents requires not only certifying the safety of the agent and surrounding bystanders under a constructed controller, but also verifying the real-time operation of thealgorithm that designs such a controller. Though the synthesis of such a controller can be posed as the solution to a robust, nonlinear optimal control problem, no tractable numerical method exists to find the global optimal solution to these problems. More troublingly, no algorithms exist for certifying the real-time performance of these synthesis algorithms even at finding just feasible solutions.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Jul 26, 2018
- Source ID
- N000141812575
Entities
People
- Ram Vasudevan
Organizations
- Board of Regents of the University of Michigan
- Office of Naval Research
- United States Navy