Imitation Learning With Stability and Safety Guarantees
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Control Systems Letters"
DOI: 10.1109/lcsys.2021.3077861
Abstract: A method is presented to learn neural network (NN) controllers with stability and safety guarantees through imitation learning (IL). Convex stability and safety conditions are derived for linear time-invariant systems with NN controllers by merging… read more here.
Keywords: safety guarantees; stability safety; imitation learning; stability ... See more keywords
Onboard Safety Guarantees for Racing Drones: High-Speed Geofencing With Control Barrier Functions
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3144777
Abstract: This letter details the theory and implementation behind practically ensuring safety of remotely piloted racing drones. We demonstrate robust and practical safety guarantees on a 7” racing drone at speeds exceeding 100 km/h, utilizing only… read more here.
Keywords: barrier functions; control barrier; safety; racing drones ... See more keywords