2024-06-11-holzapfel24a.md

title	abstract	layout	series	publisher	issn	id	month	tex_title	firstpage	lastpage	page	order	cycles	bibtex_author	author	date	address	container-title	volume	genre	issued	pdf	extras
Event-triggered safe Bayesian optimization on quadcopters	Bayesian optimization (BO) has proven to be a powerful tool for automatically tuning control parameters without requiring knowledge of the underlying system dynamics. Safe BO methods, in addition, guarantee safety during the optimization process, assuming that the underlying objective function does not change. However, in real-world scenarios, time-variations frequently occur, for example, due to wear in the system or changes in operation. Utilizing standard safe BO strategies that do not address time-variations can result in failure as previous safe decisions may become unsafe over time, which we demonstrate herein. To address this, we introduce a new algorithm, Event-Triggered SafeOpt (ETSO), which adapts to changes online solely relying on the observed costs. At its core, ETSO uses an event trigger to detect significant deviations between observations and the current surrogate of the objective function. When such change is detected, the algorithm reverts to a safe backup controller, and exploration is restarted. In this way, safety is recovered and maintained across changes. We evaluate ETSO on quadcopter controller tuning, both in simulation and hardware experiments. ETSO outperforms state-of-the-art safe BO, achieving superior control performance over time while maintaining safety.	inproceedings	Proceedings of Machine Learning Research	PMLR	2640-3498	holzapfel24a	0	Event-triggered safe {B}ayesian optimization on quadcopters	1033	1045	1033-1045	1033	false	Holzapfel, Antonia and Brunzema, Paul and Trimpe, Sebastian	given family Antonia Holzapfel given family Paul Brunzema given family Sebastian Trimpe	2024-06-11		Proceedings of the 6th Annual Learning for Dynamics & Control Conference	242	inproceedings	date-parts 2024 6 11	https://proceedings.mlr.press/v242/holzapfel24a/holzapfel24a.pdf