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Constraint Learning for Control Tasks with Limited Duration Barrier Functions by Ohnishi, Motoya (author);Notomista, Gennaro (author);Sugiyama, Masashi (author);Egerstedt, Magnus (author) is a Engineering article available to read on EtoBox.

What is Constraint Learning for Control Tasks with Limited Duration Barrier Functions about?

When deploying autonomous agents in unstructured environments over sustained periods of time, adaptability and robustness oftentimes outweigh optimality as a primary consideration. In other words, safety and survivability constraints play a key role and in this paper, we present a novel, constraintlearning framework for control tasks built on the idea of constraints-driven control. However, since control policies that keep a dynamical agent within state constraints over infinite horizons are not always available, this work instead considers constraints that can be satisfied over some finite time horizon T > 0, which we refer to as limited-duration safety. Consequently, value function learning can be used as a tool to help us find limited-duration safe policies. We show that, in some applications, the existence of limited-duration safe policies is actually sufficient for long-duration autonomy. This idea is illustrated on a swarm of simulated robots that are tasked with covering a given area, but that sporadically need to abandon this task to charge batteries. We show how the battery-charging behavior naturally emerges as a result of the constraints. Additionally, using a cart-pole

Who reads Constraint Learning for Control Tasks with Limited Duration Barrier Functions?

Author

Ohnishi, Motoya (author);Notomista, Gennaro (author);Sugiyama, Masashi (author);Egerstedt, Magnus (author)

Publisher

Elsevier BV

Published

2021

Language

EN

Field

Engineering (Physical Sciences)