实时应对未知干扰，快速生成安全轨迹。
RTD-RAX: Fast, Safe Trajectory Planning for Systems under Unknown Disturbances
- 采用非保守公式快速生成目标导向候选轨迹。
- 利用混合单调可达性实现扰动感知的安全在线验证。
- 动态修复不安全轨迹，保持目标进度且保证安全。
基于可达性的轨迹设计（RTD）是一种可证明安全的实时轨迹规划框架，结合离线可达集计算与在线轨迹优化。然而，标准RTD实现存在两个关键局限：由最坏情况可达集过估计引发的过度保守性，以及执行过程中无法考虑实时扰动。本文提出RTD-RAX，作为RTD的运行时保障扩展，采用非保守的RTD形式化方法，快速生成指向目标的候选轨迹，并利用混合单调可达性实现快速、扰动感知的在线安全认证。当候选轨迹在实时不确定性下未通过安全认证时，修复程序将找到邻近的安全轨迹，在保持向目标推进的同时，确保在实时扰动下的安全性。
原文摘要 · Abstract (English)
Reachability-based Trajectory Design (RTD) is a provably safe, real-time trajectory planning framework that combines offline reachable-set computation with online trajectory optimization. However, standard RTD implementations suffer from two key limitations: conservatism induced by worst-case reachable-set overapproximations, and an inability to account for real-time disturbances during execution. This paper presents RTD-RAX, a runtime-assurance extension of RTD that utilizes a non-conservative RTD formulation to rapidly generate goal-directed candidate trajectories, and utilizes mixed monotone reachability for fast, disturbance-aware online safety certification. When proposed trajectories fail safety certification under real-time uncertainty, a repair procedure finds nearby safe trajectories that preserve progress toward the goal while guaranteeing safety under real-time disturbances.
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