Bounding the Distance to Unsafe Sets With Convex Optimization

DOI10.1109/TAC.2023.3285862MaRDI QIDQ6199935zbMATH OpenOpenAlexFDO

Authors Jared Miller, Mario Sznaier

Publication date 29 February 2024

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2110.14047

zbMATH Keywords

linear matrix inequality (LMI)numerical optimizationpeak estimationsafetysum of squares (SOS)

Mathematics Subject Classification ID

Systems theory; control (93-XX)

Abstract: This work proposes an algorithm to bound the minimum distance between points on trajectories of a dynamical system and points on an unsafe set. Prior work on certifying safety of trajectories includes barrier and density methods, which do not provide a margin of proximity to the unsafe set in terms of distance. The distance estimation problem is relaxed to a Monge-Kantorovich type optimal transport problem based on existing occupation-measure methods of peak estimation. Specialized programs may be developed for polyhedral norm distances (e.g. L1 and Linfinity) and for scenarios where a shape is traveling along trajectories (e.g. rigid body motion). The distance estimation problem will be correlatively sparse when the distance objective is separable.

Cited in

(3)

• Peak estimation of rational systems using convex optimization
• Convergence rates for the moment-SoS hierarchy
• Safely learning dynamical systems

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