イブキ　タツヤ   IBUKI TATSUYA   伊吹　竜也    所属   明治大学  理工学部    職種   専任准教授
言語種別	英語
発行・発表の年月	2022/09
形態種別	学術雑誌
査読	査読あり
標題	Gaussian Control Barrier Functions: Non-Parametric Paradigm to Safety
執筆形態	共著(筆頭者以外)
掲載誌名	IEEE Access
掲載区分	国外
出版社・発行元	The Institute of Electrical and Electronics Engineers (IEEE)
巻・号・頁	10,pp.99823-99836
総ページ数	14
国際共著	国際共著
著者・共著者	Mouhyemen Khan, Tatsuya Ibuki, Abhijit Chatterjee
概要	We propose a non-parametric approach for online synthesis of CBFs using Gaussian Processes (GPs). A dynamical system is defined to be safe if a subset of its states remains within the prescribed set, also called the safe set. CBFs achieve safety by designing a candidate function a priori. However, designing such a function can be challenging. Consider designing a CBF in a disaster recovery scenario where safe and navigable regions need to be determined. The decision boundary for safety here is unknown and cannot be designed a priori. Moreover, CBFs employ a parametric design approach and cannot handle arbitrary changes to the safe set in practice. In our approach, we work with safety samples to construct the CBF online by assuming a flexible GP prior on these samples, and term our formulation as a Gaussian CBF. GPs have favorable properties such as analytical tractability and robust uncertainty estimation.