提出gatekeeper框架，实时保障多约束下系统的在线安全
Online Safety under Multiple Constraints and Input Bounds using gatekeeper: Theory and Applications
- 用备份控制器递归构造满足所有约束的无限时域轨迹
- 仅需优化单个标量变量，计算高效且有性能可验证的理论保证
- 适用于无人机编队飞行等复杂非线性约束场景
本文提出一种保障网络物理系统在多重状态与输入约束下在线安全的方法。所提出的gatekeeper框架通过递归方式确保存在满足全部约束与系统动态的无限时域轨迹。该轨迹由一个备用控制器构建，本文对其进行了形式化定义。gatekeeper基于少量可验证假设，计算高效，因其只需对单一标量变量进行优化。本文主要贡献包括：(A) 建立gatekeeper理论：推导出相对于完整非线性轨迹优化问题的次优性界，并可在运行时用于性能验证，同时指导备用控制器与集合的设计；(B) 详细展示gatekeeper在多智能体编队飞行中的应用，其中每个Dubins型智能体需避开多个障碍物及武器交战区，两者均为非线性、非凸约束。
原文摘要 · Abstract (English)
This letter presents an approach to guarantee online safety of a cyber-physical system under multiple state and input constraints. Our proposed framework, called gatekeeper, recursively guarantees the existence of an infinite-horizon trajectory that satisfies all constraints and system dynamics. Such trajectory is constructed using a backup controller, which we define formally in this paper. gatekeeper relies on a small number of verifiable assumptions, and is computationally efficient since it requires optimization over a single scalar variable. We make two primary contributions in this letter. (A) First, we develop the theory of gatekeeper: we derive a sub-optimality bound relative to a full nonlinear trajectory optimization problem, and show how this can be used in runtime to validate performance. This also informs the design of the backup controllers and sets. (B) Second, we demonstrate in detail an application of gatekeeper for multi-agent formation flight, where each Dubins agent must avoid multiple obstacles and weapons engagement zones, both of which are nonlinear, nonconvex constraints.
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