{"paper":{"title":"Robust Action Governor for Uncertain Piecewise Affine Systems with Non-convex Constraints and Safe Reinforcement Learning","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.AI","cs.RO","cs.SY"],"primary_cat":"eess.SY","authors_text":"Anouck Girard, Dimitar Filev, H. Eric Tseng, Ilya Kolmanovsky, Nan Li, Yutong Li","submitted_at":"2022-07-17T17:31:07Z","abstract_excerpt":"The action governor is an add-on scheme to a nominal control loop that monitors and adjusts the control actions to enforce safety specifications expressed as pointwise-in-time state and control constraints. In this paper, we introduce the Robust Action Governor (RAG) for systems the dynamics of which can be represented using discrete-time Piecewise Affine (PWA) models with both parametric and additive uncertainties and subject to non-convex constraints. We develop the theoretical properties and computational approaches for the RAG. After that, we introduce the use of the RAG for realizing safe"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2207.08240","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2207.08240/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}