A General Safety Framework for Learning-Based Control in Uncertain Robotic Systems
A General Safety Framework for Learning-Based Control in Uncertain Robotic Systems
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 of vital importance in safety-critical systems. We propose a general safety framework based on Hamilton-Jacobi reachability …