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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

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Viability Envelopes

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  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 --

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