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This paper presents the gatekeeper algorithm, a real-time andcomputationally-lightweight method to ensure that nonlinear systems can operatesafely within unknown and dynamic environments despite limited perception.gatekeeper integrates with existing path planners and feedback controllers byintroducing an additional verification step that ensures that proposedtrajectories can be executed safely, despite nonlinear dynamics subject tobounded disturbances, input constraints and partial knowledge of theenvironment. Our key contribution is that (A) we propose an algorithm torecursively construct committed trajectories, and (B) we prove that trackingthe committed trajectory ensures the system is safe for all time into thefuture. The method is demonstrated on a complicated firefighting mission in adynamic environment, and compares against the state-of-the-art techniques forsimilar problems.

gatekeeper: Safety Verification and Control for Nonlinear Systems in Unknown and Dynamic Environments