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.
Firewatch Mission:
Algorithm Description: https://youtu.be/epGrOOSIHO8
Experiments: https://youtu.be/oFm7btPvaNU
See the src folder for the implementation of the firewatch mission.
The code for the quadrotor experiments can be found here:
- Onboard (Xavier NX) code: https://github.com/dev10110/gatekeeper-exp-xavier
- Groundstation code: https://github.com/dev10110/gatekeeper-exp-groundstation
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
}