gatekeeper: Online Safety Verification and Control for Nonlinear Systems in Dynamic Environments
Devansh Agrawal,Ruichang Chen,Dimitra Panagou,Devansh Agrawal,Ruichang Chen,Dimitra Panagou
This paper presents the gatekeeper algorithm, a real-time and computationally-lightweight method to ensure that nonlinear systems can operate safely in dynamic environments despite limited perception. gatekeeper integrates with existing path planners and feedback controllers by introducing an additional verification step that ensures that proposed trajectories can be executed safely, despite nonli...
