---
_id: '30733'
abstract:
- lang: eng
  text: Hamilton-Jacobi reachability methods for safety-critical control have been
    well studied, but the safety guarantees derived rely on the accuracy of the numerical
    computation. Thus, it is crucial to understand and account for any inaccuracies
    that occur due to uncertainty in the underlying dynamics and environment as well
    as the induced numerical errors. To this end, we propose a framework for modeling
    the error of the value function inherent in Hamilton-Jacobi reachability using
    a Gaussian process. The derived safety controller can be used in conjuncture with
    arbitrary controllers to provide a safe hybrid control law. The marginal likelihood
    of the Gaussian process then provides a confidence metric used to determine switches
    between a least restrictive controller and a safety controller. We test both the
    prediction as well as the correction capabilities of the presented method in a
    classical pursuit-evasion example.
author:
- first_name: Nikolaus
  full_name: Vertovec, Nikolaus
  id: '93930'
  last_name: Vertovec
- first_name: Sina
  full_name: Ober-Blöbaum, Sina
  id: '16494'
  last_name: Ober-Blöbaum
- first_name: Kostas
  full_name: Margellos, Kostas
  last_name: Margellos
citation:
  ama: 'Vertovec N, Ober-Blöbaum S, Margellos K. Verification of safety critical control
    policies using kernel methods. In: ; 2022:1870-1875.'
  apa: Vertovec, N., Ober-Blöbaum, S., &#38; Margellos, K. (2022). <i>Verification
    of safety critical control policies using kernel methods</i>. 1870–1875.
  bibtex: '@inproceedings{Vertovec_Ober-Blöbaum_Margellos_2022, title={Verification
    of safety critical control policies using kernel methods}, author={Vertovec, Nikolaus
    and Ober-Blöbaum, Sina and Margellos, Kostas}, year={2022}, pages={1870–1875}
    }'
  chicago: Vertovec, Nikolaus, Sina Ober-Blöbaum, and Kostas Margellos. “Verification
    of Safety Critical Control Policies Using Kernel Methods,” 1870–75, 2022.
  ieee: N. Vertovec, S. Ober-Blöbaum, and K. Margellos, “Verification of safety critical
    control policies using kernel methods,” London, 2022, pp. 1870–1875.
  mla: Vertovec, Nikolaus, et al. <i>Verification of Safety Critical Control Policies
    Using Kernel Methods</i>. 2022, pp. 1870–75.
  short: 'N. Vertovec, S. Ober-Blöbaum, K. Margellos, in: 2022, pp. 1870–1875.'
conference:
  end_date: 2022-07-15
  location: London
  name: 2022 European Control Conference (ECC)
  start_date: 2022-07-12
date_created: 2022-03-31T11:14:13Z
date_updated: 2023-11-29T10:00:18Z
ddc:
- '510'
department:
- _id: '636'
has_accepted_license: '1'
language:
- iso: eng
page: 1870-1875
status: public
title: Verification of safety critical control policies using kernel methods
type: conference
user_id: '15694'
year: '2022'
...