Safe autonomy under uncertainty : computation, control, and application

• Main Author: Gao, Yulong
• Other Authors: Xie Lihua
• Format: Thesis-Doctor of Philosophy
• Language: English
• Published: Nanyang Technological University 2021
• Subjects: Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering; Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• Online Access: https://hdl.handle.net/10356/147891
• Institution: Nanyang Technological University

Safety is a primary requirement for many autonomous systems, such as automated vehicles and mobile robots. An open problem is how to assure safety, in the sense of avoiding unsafe subsets of the state space, for uncertain systems under complex tasks. In this thesis, we solve this problem for certain...