Title: Gatekeeper: Safety Critical Control of Nonlinear Systems with Limited Perception in Unknown and Dynamic Environments

Abstract: This paper presents the Gatekeeper algorithm, a real-time method to guarantee the safety of a robotic system operating in environments that are unknown and dynamic. Given a nominal planner designed to meet mission objectives, Gatekeeper extends the nominal trajectories using backup controllers, and determines a control policy that is certified safe for all future time using the currently available information. We demonstrate the algorithm on a dynamic aerial firefighting mission, and show reduced conservatism relative to existing methods. The algorithm was also demonstrated onboard a quadrotor, where a map of the environment was built online, and the Gatekeeper algorithm prevented a human pilot from flying the quadrotor into obstacles and unknown regions.