Restricted — architecture and results only. No control laws, protocol internals, key handling, or repositories.
Lab record 02
PRAHARI
A learned navigation policy for GPS-denied flight that can only act inside limits verified in advance.
- Status
- Concept
- Discipline
- Autonomy
What it is
A design for formally verified, automaton-shielded reinforcement-learning navigation without GPS. It is at the design stage, with no public artifacts yet. This project is restricted: this page covers architecture only.
Architecture
Schematic
-
Sensing
- PMW3901 optical flow
- VL53L0X rangefinder
-
Policy
- PPO / SAC over a belief state
- Trained in Isaac Lab
-
Shield
- LTL → Büchi shield synthesis
- Mealy mission controller
-
Vehicle
- Saarthi flight controller
Status
Concept
Sealed
Not published here: control laws and code.
The record covers architecture and results only. There is no public repository.
End of record L-02
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