Fault Tolerant Neural Control Barrier Functions for Robotic Systems under Sensor Faults and Attacks
Hongchao Zhang,Luyao Niu,Andrew Clark,Radha Poovendran,Hongchao Zhang,Luyao Niu,Andrew Clark,Radha Poovendran
Safety is a fundamental requirement of many robotic systems. Control barrier function (CBF)-based approaches have been proposed to guarantee the safety of robotic systems. However, the effectiveness of these approaches highly relies on the choice of CBFs. Inspired by the universal approximation power of neural networks, there is a growing trend toward representing CBFs using neural networks, leadi...
