Infusing Reachability-Based Safety into Planning and Control for Multi-agent Interactions
Xinrui Wang,Karen Leung,Marco Pavone,Xinrui Wang,Karen Leung,Marco Pavone
Within a robot autonomy stack, the planner and controller are typically designed separately, and serve different purposes. As such, there is often a diffusion of responsibilities when it comes to ensuring safety for the robot. We propose that a planner and controller should share the same interpretation of safety but apply this knowledge in a different yet complementary way. To achieve this, we us...
