跨系统转移安全约束，让复杂模型也能安全运行。
On transferring safety certificates across dynamical systems
- 用仿真函数和余量项，把一个系统的安全规则迁移到另一个不匹配的系统上。
- 在四旋翼导航中成功实现避障，且对原控制器干扰很小。
- 适合需在异构系统间共享安全机制的研究者或工程师。
控制屏障函数（CBFs）能有效在控制系统中施加安全约束，但直接应用于复杂高维动态系统时往往困难。许多场景下，安全约束更自然地定义于简化或替代系统模型上，而这些模型与目标系统动态不一致。本文解决动态不匹配系统间安全保证的迁移问题，提出一种转移控制屏障函数（tCBF）框架，利用仿真函数和显式余量项，将源系统上的安全约束系统性地转移到目标系统上。该方法考虑模型失配，生成的转移屏障可通过对偶二次规划安全滤波器在目标系统上强制执行。所提方法通用，不要求两系统状态维度或动力学一致。在四旋翼导航任务中验证了有效性：转移屏障确保目标系统避障，同时对基线控制器影响最小。结果表明，转移控制屏障函数为异构系统间安全强化提供了一种通用机制。
原文摘要 · Abstract (English)
Control barrier functions (CBFs) provide a powerful tool for enforcing safety constraints in control systems, but their direct application to complex, high-dimensional dynamics is often challenging. In many settings, safety certificates are more naturally designed for simplified or alternative system models that do not exactly match the dynamics of interest. This paper addresses the problem of transferring safety guarantees between dynamical systems with mismatched dynamics. We propose a transferred control barrier function (tCBF) framework that enables safety constraints defined on one system to be systematically enforced on another system using a simulation function and an explicit margin term. The resulting transferred barrier accounts for model mismatch and induces a safety condition that can be enforced on the target system via a quadratic-program-based safety filter. The proposed approach is general and does not require the two systems to share the same state dimension or dynamics. We demonstrate the effectiveness of the framework on a quadrotor navigation task with the transferred barrier ensuring collision avoidance for the target system, while remaining minimally invasive to a nominal controller. These results highlight the potential of transferred control barrier functions as a general mechanism for enforcing safety across heterogeneous dynamical systems.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。