1 / 9

Viability Envelopes

Viability Envelopes. Maciej Kalisiak Michiel van de Panne. Idea and Motivation. exploring “pushing the envelope” metaphor i.e., operating at/near (safe) limits have the computer enforce safety task: contain system state in envelope viability theory: too general, abstract

amal-conway
Download Presentation

Viability Envelopes

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Viability Envelopes Maciej Kalisiak Michiel van de Panne

  2. Idea and Motivation • exploring “pushing the envelope” metaphor • i.e., operating at/near (safe) limits • have the computer enforce safety • task: contain system state in envelope • viability theory: too general, abstract • our work: concrete, implementable solution

  3. Envelope example: rocket • Xout = Xf Xfi • Xin = XopXur • want to operate in Xop… • ... or at least Xin

  4. Containment: 1-step • idea: override user input if it breaches envelope in 1 time step • limited usefulness: sharp corrections

  5. Containment: multi-step • idea: look further ahead • advantages: • milder corrections • useful info for haptics, allows guidance • more robust with approximate envelopes

  6. Practical Trade-offs • approximate envelope using Nearest Neighbor • discretize control space

  7. rocket (2D) car on straight road (2D) bicycle balance (2D) car in arbitrary terrain (3D) Results [show movies externally]

  8. Future work • more complex systems • local-only knowledge of terrain • “building block”, archetype envelopes • explore how best to use with haptics

  9. -- END --

More Related