Meeko Oishi, Nikolai Matni
We propose verification techniques from hybrid control theory to address safety issues in the indoor operation of powered wheelchairs. Verification through hybrid system reachability can provide a mathematical guarantee of safety, where safety is defined as the ability of the system to remain within a desired subset of the state-space. Current efforts are in developing a general algorithm for verification in semi-automated systems, general methods for implementation of control laws for safety, and in the development of an instrumented smart wheelchair testbed at UBC.
Submitted: Sep 11, 2008