Related papers: Construction of Parametric Barrier Functions for D…
Control Invariant (CI) sets are instrumental in certifying the safety of dynamical systems. Control Barrier Functions (CBFs) are effective tools to compute such sets, since the zero sublevel sets of CBFs are CI sets. However, computing CBFs…
This paper presents converse theorems for safety in terms of barrier functions for unconstrained continuous-time systems modeled as differential inclusions. Via a counterexample, we show the lack of existence of autonomous and continuous…
This paper provides an introduction and overview of recent work on control barrier functions and their use to verify and enforce safety properties in the context of (optimization based) safety-critical controllers. We survey the main…
A barrier certificate, defined over the states of a dynamical system, is a real-valued function whose zero level set characterizes an inductively verifiable state invariant separating reachable states from unsafe ones. When combined with…
Providing finite-time probabilistic safety and reach-avoid guarantees is crucial for safety-critical stochastic systems. Existing state-of-the-art barrier methods often rely on a restrictive boundedness assumption for auxiliary functions,…
While the identification of nonlinear dynamical systems is a fundamental building block of model-based reinforcement learning and feedback control, its sample complexity is only understood for systems that either have discrete states and…
This paper is concerned with path-complete barrier functions which offer a graph-based methodology for verifying safety properties in switched systems. The path-complete framework leverages algebraic (barrier functions) as well as…
This paper studies the design of controllers that guarantee stability and safety of nonlinear control affine systems with parametric uncertainty in both the drift and control vector fields. To this end, we introduce novel classes of robust…
We propose an adversarial, time-varying test-synthesis procedure for safety-critical systems without requiring specific knowledge of the underlying controller steering the system. From a broader test and evaluation context, determination of…
We develop an open-source software tool, called PRoTECT, for the parallelized construction of safety barrier certificates (BCs) for nonlinear polynomial systems. This tool employs sum-of-squares (SOS) optimization programs to systematically…
This paper considers the general problem of transitioning theoretically safe controllers to hardware. Concretely, we explore the application of control barrier functions (CBFs) to sampled-data systems: systems that evolve continuously but…
In this paper, a method to achieve smooth transitions between sequential reachability tasks for a continuous time mobile robotic system is presented. Control barrier functions provide formal guarantees of forward invariance of safe sets and…
Control Barrier Functions (CBFs) provide a powerful framework for ensuring safety in dynamical systems. However, their application typically relies on full state information, which is often violated in real-world due to the availability of…
This work applies universal adaptive control to control barrier functions to achieve forward invariance of a safe set despite the presence of unmatched parametric uncertainties. The approach combines two ideas. The first is to construct a…
Many existing tools in nonlinear control theory for establishing stability or safety of a dynamical system can be distilled to the construction of a certificate function that guarantees a desired property. However, algorithms for…
In this paper, we propose a deep learning based control synthesis framework for fast and online computation of controllers that guarantees the safety of general nonlinear control systems with unknown dynamics in the presence of input…
The need for robust control laws is especially important in safety-critical applications. We propose robust hybrid control barrier functions as a means to synthesize control laws that ensure robust safety. Based on this notion, we formulate…
This paper introduces a novel safety-critical control method through the synthesis of control barrier functions (CBFs) for systems with high-relative-degree safety constraints. By extending the procedure of CBF backstepping, we propose…
Current methods for verifying quantum computers are predominately based on interactive or automatic theorem provers. Considering that quantum computers are dynamical in nature, this paper employs and extends the concepts from the…
This paper presents a novel approach for ensuring safe operation of systems subject to input nonlinearities and time-varying safety constraints. We extend the time-varying barrier function framework to address time-varying safety…