Belief Space Control of Safety-Critical Systems Under State-Dependent Measurement Noise
Abstract: Safety-critical control is imperative for deploying autonomous systems in the real world. Control Barrier Functions (CBFs) offer strong safety guarantees when accurate system and sensor models are available. However, widely used additive, fixed-noise models are not representative of complex sensor modalities with state-dependent error characteristics. Although CBFs have been designed to mitigate uncertainty using fixed worst-case bounds on measurement noise, this approach can lead to overly-conservative control. To solve this problem, we extend the Belief Control Barrier Function (BCBF) framework to accommodate state-dependent measurement noise via the Generalized Extended Kalman Filter (GEKF) algorithm, which models measurement noise as a linear function of the state. Using the original BCBF framework as baseline, we demonstrate the performance of the BCBF-GEKF approach through simulation results on a 1D single integrator setpoint regulation scenario and a trajectory tracking scenario using 2D unicycle kinematics. Our results confirm that the BCBF-GEKF approach offers less conservative control with greater safety.
Advisor: Professor Kevin Leahy
Committee: Professor Constantinos Chamzas, Professor Guanrui Li
Zoom Link: https://wpi.zoom.us/j/6567281852