Safe Sequential Path Planning Under Disturbances and Imperfect Information

Somil Bansal; Mo Chen; Jaime F. Fisac; Claire J. Tomlin

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arXiv · 1603.05208

Safe Sequential Path Planning Under Disturbances and Imperfect Information

Somil Bansal·Mo Chen·Jaime F. Fisac·Claire J. Tomlin

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Abstract

Multi-UAV systems are safety-critical, and guarantees must be made to ensure no unsafe configurations occur. Hamilton-Jacobi (HJ) reachability is ideal for analyzing such safety-critical systems; however, its direct application is limited to small-scale systems of no more than two vehicles due to an exponentially-scaling computational complexity. Previously, the sequential path planning (SPP) method, which assigns strict priorities to vehicles, was proposed; SPP allows multi-vehicle path planning to be done with a linearly-scaling computational complexity. However, the previous formulation assumed that there are no disturbances, and that every vehicle has perfect knowledge of higher-priority vehicles' positions. In this paper, we make SPP more practical by providing three different methods to account for disturbances in dynamics and imperfect knowledge of higher-priority vehicles' states. Each method has different assumptions about information sharing. We demonstrate our proposed methods in simulations.

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Somil Bansal, Mo Chen, Jaime F. Fisac, Claire J. Tomlin. 2016-03-16. Safe Sequential Path Planning Under Disturbances and Imperfect Information. https://arxiv.org/abs/1603.05208

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