Natural Motion-based Trajectories for Automatic Spacecraft Collision Avoidance During Proximity Operations

Runtime Assurance for Safety-Critical Systems: An Introduction to Safety Filtering Approaches for Complex Control Systems

“…While this eliminates the effect of chatter, it introduces added complexity into the problem and generally requires greater computational resources. [26] waypoint tracking cyber-physical system [50] fixed wing aircraft ground avoidance (Auto-GCAS) [51], [52] advanced flight control systems [53] Simplex fixed wing aircraft obstacle avoidance [21], [22], [54] lane keeping [55] safety against LTL specifications [56], [57] aircraft conflict resolution [58]-[60] collision avoidance for high speed quadrotor navigation [46], [61] decentralized collision avoidance for quadrotors [62], [63] collision avoidance during lane-changing maneuvers [64] ground robot navigation around obstacles [65], [66] bipedal walking/ exoskeletons [67] bipedal walking/ exoskeletons [68], [69] robotic manipulator arms [27] lane keeping [13], [14] ASIF mobile inverted pendulum (Segway) [44] mobile inverted pendulum (Segway) [70] rapid aerial exploration of unknown environments [25] robotic grasping [71] multi-robot systems [72] swarm robotics (Robotarium) [73]- [76] fixed wing aircraft collision avoidance [77] motorized rehabilitative cycling system [78] Latched and Unlatched Implementations RTA systems based on those described in the Section "The Simplex Architecture" activate a recovery maneuver when the monitor detects that one of the boundary violation conditions has become active. At this point, the decision logic must specify when to return control to the primary controller.…”

“…RTA is emerging as the dominant approach for enforcing safety in real world autonomous systems and semi-autonomous systems. Though not always directly associated with the term run time assurance, notable autonomous systems applications are seen in road vehicles [13], [14], bipedal walking [15], [16], air traffic control [17], fixed wing aircraft collision avoidance [18]- [22] and flight envelope protection [23], VTOL aircraft [24] [25], spacecraft collision avoidance [26], manipulator arms [27], and propulsion [28] to name a few.…”

Run Time Assurance for Safety-Critical Systems: An Introduction to Safety Filtering Approaches for Complex Control Systems

“…While this eliminates the effect of chatter, it introduces added complexity into the problem and generally requires greater computational resources. [26] waypoint tracking cyber-physical system [50] fixed wing aircraft ground avoidance (Auto-GCAS) [51], [52] advanced flight control systems [53] Simplex fixed wing aircraft obstacle avoidance [21], [22], [54] lane keeping [55] safety against LTL specifications [56], [57] aircraft conflict resolution [58]-[60] collision avoidance for high speed quadrotor navigation [46], [61] decentralized collision avoidance for quadrotors [62], [63] collision avoidance during lane-changing maneuvers [64] ground robot navigation around obstacles [65], [66] bipedal walking/ exoskeletons [67] bipedal walking/ exoskeletons [68], [69] robotic manipulator arms [27] lane keeping [13], [14] ASIF mobile inverted pendulum (Segway) [44] mobile inverted pendulum (Segway) [70] rapid aerial exploration of unknown environments [25] robotic grasping [71] multi-robot systems [72] swarm robotics (Robotarium) [73]- [76] fixed wing aircraft collision avoidance [77] motorized rehabilitative cycling system [78] Latched and Unlatched Implementations RTA systems based on those described in the Section "The Simplex Architecture" activate a recovery maneuver when the monitor detects that one of the boundary violation conditions has become active. At this point, the decision logic must specify when to return control to the primary controller.…”

“…RTA is emerging as the dominant approach for enforcing safety in real world autonomous systems and semi-autonomous systems. Though not always directly associated with the term run time assurance, notable autonomous systems applications are seen in road vehicles [13], [14], bipedal walking [15], [16], air traffic control [17], fixed wing aircraft collision avoidance [18]- [22] and flight envelope protection [23], VTOL aircraft [24] [25], spacecraft collision avoidance [26], manipulator arms [27], and propulsion [28] to name a few.…”