Reach-Avoid-Stabilize Using Admissible Control Sets

TL;DR

This paper introduces a method using admissible control sets to solve reach-avoid-stabilize problems, ensuring safety and stability in complex scenarios with multiple targets and obstacles, extending Hamilton-Jacobi reachability analysis.

Contribution

It proposes a novel approach that guarantees reaching multiple targets, avoiding obstacles, and stabilizing to a point of interest using admissible control sets, with safety guarantees and under-approximation of the RAS set.

Findings

Guarantees safety and stability in reach-avoid-stabilize tasks.

Provides an under-approximation of the RAS set.

Validated through numerical examples.

Abstract

Hamilton-Jacobi Reachability (HJR) analysis has been successfully used in many robotics and control tasks, and is especially effective in computing reach-avoid sets and control laws that enable an agent to reach a goal while satisfying state constraints. However, the original HJR formulation provides no guarantees of safety after a) the prescribed time horizon, or b) goal satisfaction. The reach-avoid-stabilize (RAS) problem has therefore gained a lot of focus: find the set of initial states (the RAS set), such that the trajectory can reach the target, and stabilize to some point of interest (POI) while avoiding obstacles. Solving RAS problems using HJR usually requires defining a new value function, whose zero sub-level set is the RAS set. The existing methods do not consider the problem when there are a series of targets to reach and/or obstacles to avoid. We propose a method that uses the idea of admissible control sets; we guarantee that the system will reach each target while avoiding obstacles as prescribed by the given time series. Moreover, we guarantee that the trajectory ultimately stabilizes to the POI. The proposed method provides an under-approximation of the RAS set, guaranteeing safety. Numerical examples are provided to validate the theory.