Run-Time Assurance via Real-time Generation of Backup Trajectories and Transverse Dynamics Regulation Laws

In safety or mission-critical environments, Run-Time Assurance is about performing actions with full consciousness of opt-out options and the willingness to exercise such options when they are about to run-out. This paper proposes a new framework for run time assurance for nonlinear dynamical systems that enjoy intelligent interaction with complex environments. This framework exploits the concept of transverse dynamics to compute closed-loop control laws for "Plan B" trajectories in complex obstacle environments in real-time, thereby increasing the confidence in their value, should they be used. Three-state and six-state examples illustrate the approach in complex obstacle environments.