Risk-Aware Robotics: Tail Risk Measures in Planning, Control, and Verification
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arXiv
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| Auteurs principaux: | , , , , , , , |
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866913493468315648 |
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| author | Akella, Prithvi Dixit, Anushri Ahmadi, Mohamadreza Lindemann, Lars Chapman, Margaret P. Pappas, George J. Ames, Aaron D. Burdick, Joel W. |
| author_facet | Akella, Prithvi Dixit, Anushri Ahmadi, Mohamadreza Lindemann, Lars Chapman, Margaret P. Pappas, George J. Ames, Aaron D. Burdick, Joel W. |
| contents | The need for a systematic approach to risk assessment has increased in recent years due to the ubiquity of autonomous systems that alter our day-to-day experiences and their need for safety, e.g., for self-driving vehicles, mobile service robots, and bipedal robots. These systems are expected to function safely in unpredictable environments and interact seamlessly with humans, whose behavior is notably challenging to forecast. We present a survey of risk-aware methodologies for autonomous systems. We adopt a contemporary risk-aware approach to mitigate rare and detrimental outcomes by advocating the use of tail risk measures, a concept borrowed from financial literature. This survey will introduce these measures and explain their relevance in the context of robotic systems for planning, control, and verification applications. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_18972 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Risk-Aware Robotics: Tail Risk Measures in Planning, Control, and Verification Akella, Prithvi Dixit, Anushri Ahmadi, Mohamadreza Lindemann, Lars Chapman, Margaret P. Pappas, George J. Ames, Aaron D. Burdick, Joel W. Robotics Systems and Control The need for a systematic approach to risk assessment has increased in recent years due to the ubiquity of autonomous systems that alter our day-to-day experiences and their need for safety, e.g., for self-driving vehicles, mobile service robots, and bipedal robots. These systems are expected to function safely in unpredictable environments and interact seamlessly with humans, whose behavior is notably challenging to forecast. We present a survey of risk-aware methodologies for autonomous systems. We adopt a contemporary risk-aware approach to mitigate rare and detrimental outcomes by advocating the use of tail risk measures, a concept borrowed from financial literature. This survey will introduce these measures and explain their relevance in the context of robotic systems for planning, control, and verification applications. |
| title | Risk-Aware Robotics: Tail Risk Measures in Planning, Control, and Verification |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2403.18972 |