Mathematical Challenges and Opportunities for Autonomous Vehicles 2020
Workshop II: Safe Operation of Connected and Autonomous Vehicle Fleets

"SafetyCritical Control of Autonomous Systems"
Aaron Ames California Institute of Technology

Abstract: Guaranteeing safe behavior is a critical component of translating autonomous systems from a laboratory setting to realworld environments. With this as motivation, this talk will present a safetycritical approach to the control of nonlinear systems. To this end, a unified nonlinear control framework for realizing dynamic behaviors will be presented. Underlying this approach is an optimizationbased control paradigm leveraging control barrier functions that guarantee safety (represented as forward set invariance). The impact of this paradigm will be considered in the context of autonomous systems, and the application of these ideas will be demonstrated experimentally on a wide variety of robotic systems. Finally, the realization of safetycritical control in the context of automotive systems will be considered with a view toward autonomous vehicle fleets.

Institute for Pure and Applied Mathematics, UCLA
October 26, 2020

For more information: https://www.ipam.ucla.edu/avws2