/gatekeeper

Repo accompanying paper on Gatekeeper Algorithm

Primary LanguageJupyter NotebookMIT LicenseMIT

gatekeeper

Repo containing supplementary materials to the gatekeeper paper. The paper was presented at IROS 2023, and is currently under review at Transactions on Robotics (T-RO).

A pdf of the paper is uploaded here, and includes the appendix.

Videos

Firewatch Mission: Alt Text

Algorithm Description: https://youtu.be/epGrOOSIHO8

Algorithm Description

Experiments: https://youtu.be/oFm7btPvaNU

Experiments

Code

See the src folder for the implementation of the firewatch mission.

The code for the quadrotor experiments can be found here:

Citing

If you found our work useful, please consider citing

@article{agrawal2023gatekeeper,
   author={Devansh Ramgopal Agrawal and Ruichang Chen and Dimitra Panagou},
   title={Gatekeeper: Online Safety Verification and Control for Nonlinear Systems in Dynamic Environments},
   journal={International Conference on Intelligent Robots and Systems},
   year=2023
}