为战斗机设计实时安全防护机制，确保飞行安全且不干扰飞行员操作。
Safety Guardrails in the Sky: Realizing Control Barrier Functions on the VISTA F-16 Jet
- 基于控制屏障函数，动态融合人工与自动控制指令
- 飞行测试中有效约束过载、高度、地理围栏等安全边界
- 在保证安全前提下最小化对飞行员输入的干预
自主系统（从仿人机器人到自动驾驶车辆和飞机）的发展要求在不危及系统或环境安全的前提下执行高性能、高动态的运动。本文提出一种名为Guardrails的新型运行时安全保障机制，通过控制屏障函数理论，实现对自主系统的动态安全保障，使系统能够在运行域边缘安全运行。该机制将人类或人工智能操作员的指令与安全控制动作进行精细融合，确保行为安全。为验证其能力，我们在VISTA F-16战斗机上实现了Guardrails，并开展飞行测试，监督人类飞行员执行过载限制、高度范围、地理围栏约束及组合条件下的操作。在广泛的飞行测试中，Guardrails成功保障了安全，在安全时保持飞行员主导权，仅在输入不安全时进行最小程度的修正。
原文摘要 · Abstract (English)
The advancement of autonomous systems -- from legged robots to self-driving vehicles and aircraft -- necessitates executing increasingly high-performance and dynamic motions without ever putting the system or its environment in harm's way. In this paper, we introduce Guardrails -- a novel runtime assurance mechanism that guarantees dynamic safety for autonomous systems, allowing them to safely evolve on the edge of their operational domains. Rooted in the theory of control barrier functions, Guardrails offers a control strategy that carefully blends commands from a human or AI operator with safe control actions to guarantee safe behavior. To demonstrate its capabilities, we implemented Guardrails on an F-16 fighter jet and conducted flight tests where Guardrails supervised a human pilot to enforce g-limits, altitude bounds, geofence constraints, and combinations thereof. Throughout extensive flight testing, Guardrails successfully ensured safety, keeping the pilot in control when safe to do so and minimally modifying unsafe pilot inputs otherwise.
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