Data-Driven Permissible Safe Control with Barrier Certificates

arXiv:2405.00136v1 Announce Type: new
Abstract: This paper introduces a method of identifying a maximal set of safe strategies from data for stochastic systems with unknown dynamics using barrier certificates. The first step is learning the dynamics of the system via Gaussian process (GP) regression and obtaining probabilistic errors for this estimate. Then, we develop an algorithm for constructing piecewise stochastic barrier functions to find a maximal permissible strategy set using the learned GP model, which is based on sequentially pruning …

abstract arxiv control cs.lg cs.ro cs.sy data data-driven dynamics eess.sy errors paper process regression safe set stochastic strategies systems type via