自主航天器巡检的运行时安全保障
Run Time Assurance for Autonomous Spacecraft Inspection
AI总结：
本文针对多智能体自主航天器巡检问题提出多种平移运动安全约束，并通过运行时安全保障（RTA）进行强制执行，仿真与蒙特卡洛分析验证了集中式 RTA 的安全保证能力，同时讨论了分散式 RTA 的失效场景及缓解方案。
摘要：
随着自主系统在现实世界中日益普及，确保其安全运行至关重要。一种方法是使用运行时安全保障（Run Time Assurance, RTA），这是一种实时安全保证技术，用于监控主控制器并在必要时进行干预以确保安全。随着这些自主系统变得越来越复杂，RTA 非常有用，因为它可以完全独立于主控制器进行设计。本文针对多智能体自主航天器巡检问题，提出了若干平移运动安全约束，所有这些约束都可以通过 RTA 来强制执行。研究对集中式控制与分散式控制进行了比较，其中巡检问题的仿真结果表明，RTA 能够保证所有约束的安全性。随后使用蒙特卡洛分析表明，未发现集中式 RTA 无法保证安全性的场景。虽然发现了一些分散式 RTA 无法保证安全性的场景，但文中讨论了缓解这些失效情况的解决方案。
英文摘要：
As autonomous systems become more prevalent in the real world, it is critical to ensure they operate safely. One approach is the use of Run Time Assurance (RTA), which is a real-time safety assurance technique that monitors a primary controller and intervenes to assure safety when necessary. As these autonomous systems become more complex, RTA is useful because it can be designed completely independent of the primary controller. This paper develops several translational motion safety constraints for a multi-agent autonomous spacecraft inspection problem, where all of these constraints can be enforced with RTA. A comparison is made between centralized and decentralized control, where simulations of the inspection problem then demonstrate that RTA can assure safety of all constraints. Monte Carlo analysis is then used to show that no scenarios were found where the centralized RTA cannot assure safety. While some scenarios were found where decentralized RTA cannot assure safety, solutions are discussed to mitigate these failures.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
