# Safety Control with Preview Automaton

arXiv: https://arxiv.org/abs/1907.04935 · HTML: https://mlsanity.com/paper/1907.04935/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 10 Jul 2019.

## Built on by (most cited first, 1 of 1)

- [A Risk-Averse Preview-based Q-Learning Algorithm: Application to Highway Driving of Autonomous Vehicles](https://mlsanity.com/paper/2112.03232/) (2021)

## Abstract (arXiv)

This paper considers the problem of safety controller synthesis for systems equipped with sensor modalities that can provide preview information. We consider switched systems where switching mode is an external signal for which preview information is available. In particular, it is assumed that the sensors can notify the controller about an upcoming mode switch before the switch occurs. We propose preview automaton, a mathematical construct that captures both the preview information and the possible constraints on switching signals. Then, we study safety control synthesis problem with preview information. An algorithm that computes the maximal invariant set in a given mode-dependent safe set is developed. These ideas are demonstrated on two case studies from autonomous driving domain.