Related papers: Barrier Functions in Cascaded Controller: Safe Qua…
This paper develops and experimentally evaluates a navigation function for quadrotor formation flight that is resilient to abrupt quadrotor failures and other obstacles. The navigation function is based on modeling healthy quadrotors as…
Learning-based controllers, such as neural network (NN) controllers, can show high empirical performance but lack formal safety guarantees. To address this issue, control barrier functions (CBFs) have been applied as a safety filter to…
Modern nonlinear control theory seeks to endow systems with properties of stability and safety, and have been deployed successfully in multiple domains. Despite this success, model uncertainty remains a significant challenge in synthesizing…
Ensuring safe robot operation in cluttered and dynamic environments remains a fundamental challenge. While control barrier functions provide an effective framework for real-time safety filtering, their performance critically depends on the…
In this paper, we analyze the system behavior for general nonlinear control-affine systems when a control barrier function-induced quadratic program-based controller is employed for feedback. In particular, we characterize the existence and…
This paper considers the safety-critical control design problem with output measurements. An observer-based safety control framework that integrates the estimation error quantified observer and the control barrier function (CBF) approach is…
Control barrier functions (CBFs) play a critical role in the design of safe optimization-based controllers for control-affine systems. Given a CBF associated with a desired ``safe'' set, the typical approach consists in embedding CBF-based…
This paper investigates the distributed safety critical control for multi-agent systems (MASs) in the presence of uncontrollable agents with uncertain behaviors. To ensure system safety, the control barrier function (CBF) is employed in…
This paper addresses the safety challenges in impulsive systems, where abrupt state jumps introduce significant complexities into system dynamics. A unified framework is proposed by integrating Quadratic Programming (QP), Control Barrier…
Control barrier functions (CBFs) are widely used in safety-critical controllers. However, constructing a valid CBF is challenging, especially under nonlinear or non-convex constraints and for high relative degree systems. Meanwhile, finding…
This paper presents a methodology for ensuring that the composition of multiple Control Barrier Functions (CBFs) always leads to feasible conditions on the control input, even in the presence of input constraints. In the case of a system…
Safety filters, particularly those based on control barrier functions, have gained increased interest as effective tools for safe control of dynamical systems. Existing correct-by-construction synthesis algorithms for such filters, however,…
Control Barrier Functions (CBFs) have been demonstrated to be a powerful tool for safety-critical controller design for nonlinear systems. Existing design paradigms do not address the gap between theory (controller design with continuous…
This paper introduces integral control barrier functions (I-CBFs) as a means to enable the safety-critical integral control of nonlinear systems. Importantly, I-CBFs allow for the holistic encoding of both state constraints and input bounds…
In emerging control applications involving multiple and complex tasks, safety filters are gaining prominence as a modular approach to enforcing safety constraints. Among various methods, control barrier functions (CBFs) are widely used for…
Autonomy advances have enabled robots in diverse environments and close human interaction, necessitating controllers with formal safety guarantees. This paper introduces an experimental platform designed for the validation and demonstration…
We address the problem of controlling Connected and Automated Vehicles (CAVs) in conflict areas of a traffic network subject to hard safety constraints. It has been shown that such problems can be solved through a combination of tractable…
Safety is a critical property for control systems in medicine, transportation, manufacturing, and other applications, and can be defined as ensuring positive invariance of a predefined safe set. This paper investigates the problems of…
We present a novel approach that aims to address both safety and stability of a haptic teleoperation system within a framework of Haptic Shared Autonomy (HSA). We use Control Barrier Functions (CBFs) to generate the control input that…
This paper generalizes the control barrier function framework by replacing scalar-valued functions with matrix-valued ones. Specifically, we develop barrier conditions for safe sets defined by matrix inequalities -- both semidefinite and…