Package: run-time-assurance
Run Time AssuranceIntroThe run-time-assurance library provides an interface and implementations for Run Time Assurance (RTA) safety filters. RTA is a technique for guaranteeing the safety of a control system by performing online safety filtering of desired control actions to ensure the control system does not and will not violate defined safety constraints. This allows an unverified controller, such as a neural network, to be utilized in safety critical applications.This package contains base classes for implementing RTA modules and defining RTA safety constraints. Also included are generic implementations of the RTA algorithms Explicit Simplex, Implicit Simplex, Explicit Acitive Set Invariance Filter (ASIF), and Implicit ASIF which simply require contraints and control system state transition models to become functional RTA modules for any custom application. Additionally, the RTA Zoo includes our growing library of custom RTA implementations for various safety critical control problems.DocsLibrary documentation and api reference located athttps://rta.github.com/act3-ace/safe-autonomy-stack/run-time-assurance/InstallationThe following instructions detail how to install
the run-time-assurance library on your local system.
It is recommended to install the python modules within
avirtualenvorcondaenvironment.
run-time-assurance utilizesPoetryto handle installation.
Poetry can install run-time-assurance into an auto-generated virtualenv or within the currently active environment.Installing run-time-assuranceClone a copy of the run-time-assurance source code
onto your local machine via SSH:gitclonegit@github.com:act3-ace/run-time-assurance.gitor HTTPS:gitclonegit@github.com:act3-ace/run-time-assurance.gitYou can install the run-time-assurance module using eitherpiporpoetry.Installing run-time-assurance with pipTo install the run-time-assurance module into your
environment usingpip:cdrun-time-assurance
pipinstall.For a local development version, please install
using the-e, --editableoption:pipinstall-e.Installing run-time-assurance with PoetryTo install the run-time-assurance module into your
environment usingpoetry:cdrun-time-assurance
poetryinstallPoetry will handle installing appropriate versions of the dependencies for run-time-assurance into your environment, if they aren't already installed.  Poetry will install an editable version of run-time-assurance to the environment.Build Docs LocallyFirst make sure the mkdocs requirements are installedpoetryinstall--withdocsNow, build the documentation and serve it locally. By default, you should be able to reach the docs on your local web browser at127.0.0.1:8000rm-rsite
poetryrunmkdocsbuild
cp-rdocs/.site/
poetryrunmkdocsserveTutorialA Jupyter Notebook tutorial discussing how to build RTA modules is given atrun-time-assurance/tutorials/Double_Integrator_Tutorial.ipynb.CitationThepaperassociated with this repository was presented at the 2023 American Control Conference, and can be cited with the following bibtex entry:@inproceedings{ravaioli2023universal,
  title={A Universal Framework for Generalized Run Time Assurance with JAX Automatic Differentiation},
  author={Ravaioli, Umberto J and Dunlap, Kyle and Hobbs, Kerianne},
  booktitle={2023 American Control Conference (ACC)},
  pages={4264--4269},
  year={2023},
  organization={IEEE}}Public ReleaseApproved for public release; distribution is unlimited. Case Number: AFRL-2023-6154A prior version of this repository was approved for public release. Case Number: AFRL-2022-3202TeamUmberto Ravaioli,
Kyle Dunlap,
Jamie Cunningham,
John McCarroll,
Kerianne Hobbs,
Charles Keating