Sampling-Based Approximation Algorithms for Reachability Analysis with Provable Guarantees
Name
sampling-based-approximation.pdf
Description
Main article
Size
1.3 MB
Format
Adobe PDF
Checksum (MD5)
254b7721114190ede2d77dc30bff341c
Author(s)
Liebenwein, Lucas
Baykal, Cenk
Gilitschenski, Igor
Karaman, Sertac
Rus, Daniela L
Date Issued
July 2018
Journal
forthcoming in Proceedings of Robotics: Science and Systems 2018
Citation
Liebenwein, Lucas, Cenk Baykal, et al. "Sampling-Based Approximation Algorithms for Reachability Analysis with Provable Guarantees." Proceedings of Robotics: Science and Systems 2018, 26-28 June, 2018, Pittsburgh, Pennsylvania,
Version
Author's final manuscript
Abstract
The successful deployment of many autonomous systems in part hinges on providing rigorous guarantees on their performance and safety through a formal verification method, such as reachability analysis. In this work, we present a simple-to-implement, sampling-based algorithm for reachability
analysis that is provably optimal up to any desired approximation accuracy. Our method achieves computational efficiency by judiciously sampling a finite subset of the state space and generating an approximate reachable set by conducting reachability analysis on this finite set of states. We prove that the reachable set generated by our algorithm approximates the ground-truth
reachable set for any user-specified approximation accuracy. As a corollary to our main method, we introduce an asymptoticallyoptimal, anytime algorithm for reachability analysis. We present simulation results that reaffirm the theoretical properties of our algorithm and demonstrate its effectiveness in real-world inspired scenarios
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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Creative Commons Attribution-Noncommercial-Share Alike
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DOI of Published Version
http://www.roboticsconference.org/program/papers/
