A new safety-check technique can prove with 100 percent accuracy that a planned robot motion will not result in a collision. The method can generate a proof in seconds and does so in a way that can be easily verified by a human.
Faster and more accurate than some alternatives, this approach could be useful for robots that interact with humans or work in tight spaces
But a user doesn't need to take the researchers' word for it -- the mathematical proof generated by this technique can be checked quickly with relatively simple math. Amice is joined on the paper fellow EECS graduate student Peter Werner and senior author Russ Tedrake, the Toyota Professor of EECS, Aeronautics and Astronautics, and Mechanical Engineering, and a member of the Computer Science and Artificial Intelligence Laboratory . The work will be presented at the International Conference on Robots and Automation.
The researchers used sum-of-squares programming, an algorithmic toolbox that can effectively turn a static problem into a function. This function is an equation that describes where the hyperplane needs to be at each point in the planned trajectory so it remains collision-free. While the method certifies with perfect accuracy, this assumes the user has an accurate model of the robot and environment; the mathematical certifier is only as good as the model.
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