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公开(公告)号：US20230321831A1
公开(公告)日：2023-10-12
申请号：US18297525
申请日：2023-04-07
Applicant: California Institute of Technology
Inventor： Aaron D. Ames , Andrew W. Singletary , Tamas Molnar
CPC classification number: B25J9/1674 , B25J9/1653 , B25J9/12 , B25J9/161 , B25J9/163
Abstract: Systems and methods for model-free safety control of robotic platforms in accordance with embodiments of the invention are illustrated. One embodiment includes a robot, including a set of one or more actuators, and at least one sensor. The robot further includes a controller including a set of one or more processors and a memory including a controller application, where the controller application configures the set of processors to control the robot by performing the steps of defining a safe set identifying positions where the robot is safe, determining a control barrier function (CBF) based on the safe set, computing a safe velocity based on the CBF and a current position of the robot such that the robot remains in the safe set, and instructing the robot to track to the safe velocity.
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公开(公告)号：US20240061449A1
公开(公告)日：2024-02-22
申请号：US18324042
申请日：2023-11-08
Applicant: California Institute of Technology
Inventor： Aaron D. Ames , Andrew W. Singletary
CPC classification number: G05D1/106 , B64U50/19 , G06F17/17 , B64U2201/10
Abstract: Systems and methods for performing high-speed geofencing in accordance with various embodiments of the invention are disclosed. One embodiment includes a robotics platform including a set of one or more motors, at least one sensor, a controller comprising a set of one or more processors, and a memory containing a controller application and a backup controller application, wherein the controller application configures the set of processors to control the robotics platform by performing the steps of receiving user commands, generating commands controlling the set of one or more motors based on the received commands. The backup controller application configures the set of processors to monitor the controller and intervene as the commands received by the controller direct the robotics platform towards a boundary by performing the steps of defining a safe set identifying positions where the robotics platform is safe, defining an invariant safe set based upon a backup set, where the invariant safe set is a subset of the safe set, and the backup set is a subset of both the invariant safe set and the safe set, receiving commands controlling the set of one or more motors to track to a desired velocity, determining if the robotic platform is approaching, and upon a determination that the robotics platform is approaching a boundary of the invariant safe set, switching control of the motors from the received commands to a combination of the received commands and backup controls generated by the backup controller application.
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公开(公告)号：US20230384790A1
公开(公告)日：2023-11-30
申请号：US18324718
申请日：2023-05-26
Applicant: California Institute of Technology
Inventor： Andrew W. Singletary , Aaron D. Ames , Mohamadreza Ahmadi
CPC classification number: G05D1/0214 , B60W50/0098 , B60W2552/15 , B60W2552/50 , B60W2300/40
Abstract: Disclosed herein is a system and method for controlling a moveable device utilizing risk control barrier functions. In one example, a system for controlling a moveable device includes a processor and memory containing programming executable by the processor. The programming is configured to receive various information about the moveable device and receive a risk tolerance for a user and calculate a risk control barrier function. The programming is configured to receive a command from the user to alter the state of the moveable device; calculate a dynamic coherent risk measurement based on the risk tolerance of the user and in respect to the risk control barrier function in respect to the command from the user to alter the state of the moveable device; determine whether the dynamic coherence risk measurement is beyond a tuning parameter at the current state of the moveable device.
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