A General Safety Framework for Learning-Based Control in Uncertain Robotic Systems

Jaime F. Fisac; Anayo K. Akametalu; Melanie N. Zeilinger; Shahab Kaynama; Jeremy Gillula; Claire J. Tomlin

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A General Safety Framework for Learning-Based Control in Uncertain Robotic Systems

机译：不确定机器人系统中基于学习的控制的通用安全框架

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The proven efficacy of learning-based control schemes strongly motivates their application to robotic systems operating in the physical world. However, guaranteeing correct operation during the learning process is currently an unresolved issue, which is o

机译：实践证明，基于学习的控制方案的功效极大地激发了它们在物理世界中运行的机器人系统中的应用。但是，目前仍无法解决在学习过程中保证正确操作的问题，这是

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来源
《IEEE Transactions on Automatic Control》 |2019年第7期|2737-2752|共16页
作者
Jaime F. Fisac; Anayo K. Akametalu; Melanie N. Zeilinger; Shahab Kaynama; Jeremy Gillula; Claire J. Tomlin;
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作者单位

Department of Electrical Engineering and Computer Sciences University of California Berkeley Berkeley CA USA;

Department of Mechanical an;

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原文格式 PDF
正文语种 eng
中图分类
关键词
Safety; Computational modeling; Analytical models; Robots; Aerodynamics; Bayes methods; Vehicle dynamics;

机译：安全;计算建模;分析模型;机器人;空气动力学贝叶斯方法;车辆动力学;

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1. A learning-based control framework for cable-driven parallel robots with unknown Jacobians [J] . Xiong Hao, Zhang Lin, Diao Xiumin Journal of Systems and Control Engineering . 2020,第9期

机译：具有未知雅加索的电缆驱动的并行机器人的基于学习的控制框架
2. Cooperative Deterministic Learning-Based Formation Control for a Group of Nonlinear Uncertain Mechanical Systems [J] . Yuan Chengzhi, He Haibo, Wang Cong IEEE transactions on industrial informatics . 2019,第1期

机译：一组非线性不确定机械系统的基于协作确定性学习的编队控制
3. Intelligent robust control for uncertain nonlinear time-varying systems and its application to robotic systems [J] . Yeong-Chan Chang IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics . 2005,第6期

机译：不确定非线性时变系统的智能鲁棒控制及其在机器人系统中的应用
4. A Learning-Based Decentralized Optimal Control Method for Modular and Reconfigurable Robots with Uncertain Environment [C] . Bo Dong, Keping Liu, Hui Li, International conference on neural information processing . 2017

机译：不确定环境下模块化和可重构机器人的基于学习的分散最优控制方法
5. A Learning-based Approach to Safety for Uncertain Robotic Systems [D] . Akametalu, Anayo K. 2018

机译：基于学习的不确定机器人系统安全方法
6. A Remote-Controlled Robotic System with Safety Protection Strategy Based on Force-Sensing and Bending Feedback for Transcatheter Arterial Chemoembolization [O] . Junqiang Zhou, Ziyang Mei, Jia Miao, 2020

机译：一种基于力传感和弯曲反馈的安全保护策略的远程控制机器人系统用于经截面动脉化疗栓塞
7. A General Safety Framework for Learning-Based Control in Uncertain Robotic Systems [O] . Jaime F. Fisac, Anayo K. Akametalu, Melanie N. Zeilinger, 2019

机译：不确定机器人系统中基于学习控制的一般安全框架

A General Safety Framework for Learning-Based Control in Uncertain Robotic Systems

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