Name
Title | ||
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A new simulation metric to determine safe environments and controllers for systems with unknown dynamics. |
Abstract | ||
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We consider the problem of extracting safe environments and controllers for reach-avoid objectives for systems with known state and control spaces, but unknown dynamics. In a given environment, a common approach is to synthesize a controller from an abstraction or a model of the system (potentially learned from data). However, in many situations, the relationship between the dynamics of the model and the actual system is not known; and hence it is difficult to provide safety guarantees for the system. In such cases, the Standard Simulation Metric (SSM), defined as the worst-case norm distance between the model and the system output trajectories, can be used to modify a reach-avoid specification for the system into a more stringent specification for the abstraction. Nevertheless, the obtained distance, and hence the modified specification, can be quite conservative. This limits the set of environments for which a safe controller can be obtained. We propose SPEC, a specification-centric simulation metric, which overcomes these limitations by computing the distance using only the trajectories that violate the specification for the system. We show that modifying a reach-avoid specification with SPEC allows us to synthesize a safe controller for a larger set of environments compared to SSM. We also propose a probabilistic method to compute SPEC for a general class of systems. Case studies using simulators for quadrotors and autonomous cars illustrate the advantages of the proposed metric for determining safe environment sets and controllers.
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Year | DOI | Venue |
|---|---|---|
2019 | 10.1145/3302504.3311795 | HSCC |
Keywords | DocType | Volume |
Simulation metric, Safe environment assumptions, Safe controller synthesis, Model-mismatch, Reach-avoid objectives, Scenario optimization | Journal | abs/1902.10320 |
ISBN | Citations | PageRank |
978-1-4503-6282-5 | 0 | 0.34 |
References | Authors | |
0 | 5 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Shromona Ghosh | 1 | 76 | 9.47 |
| Somil Bansal | 2 | 55 | 9.65 |
| Alberto L. Sangiovanni-Vincentelli | 3 | 11385 | 1881.40 |
| Sanjit A. Seshia | 4 | 2226 | 168.09 |
| claire j tomlin | 5 | 1174 | 141.27 |