Related papers: Control Barrier Functions: Theory and Applications
When deploying autonomous agents in unstructured environments over sustained periods of time, adaptability and robustness oftentimes outweigh optimality as a primary consideration. In other words, safety and survivability constraints play a…
Safety-critical control is characterized as ensuring constraint satisfaction for a given dynamical system. Recent developments in zeroing control barrier functions (ZCBFs) have provided a framework for ensuring safety of a superlevel set of…
We provide a novel approach to synthesize controllers for nonlinear continuous dynamical systems with control against safety properties. The controllers are based on neural networks (NNs). To certify the safety property we utilize barrier…
This paper presents a new control approach for guaranteed safety (remaining in a safe set) subject to actuator constraints (the control is in a convex polytope). The control signals are computed using real-time optimization, including…
In this paper, we investigate the use of relaxed logarithmic barrier functions in the context of linear model predictive control. We present results that allow to guarantee asymptotic stability of the corresponding closed-loop system, and…
The Robotarium, a remotely accessible swarm-robotics testbed, has provided free, open access to robotics and controls research for hundreds of users in thousands of experiments. This high level of usage requires autonomy in the system,…
Machine and reinforcement learning (RL) are increasingly being applied to plan and control the behavior of autonomous systems interacting with the physical world. Examples include self-driving vehicles, distributed sensor networks, and…
This paper studies the problem of enforcing safety of a stochastic dynamical system over a finite time horizon. We use stochastic barrier functions as a means to quantify the probability that a system exits a given safe region of the state…
Control Barrier Functions (CBFs) aim to ensure safety by constraining the control input at each time step so that the system state remains within a desired safe region. This paper presents a framework for CBFs in stochastic systems in the…
Shared autonomy provides a framework where a human and an automated system, such as a robot, jointly control the system's behavior, enabling an effective solution for various applications, including human-robot interaction. However, a…
General definitions as well as rules of reasoning regarding control code production, distribution, deployment, and usage are described. The role of testing, trust, confidence and risk analysis is considered. A rationale for control code…
Control barrier functions (CBFs) have been widely used for synthesizing controllers in safety-critical applications. When used as a safety filter, it provides a simple and computationally efficient way to obtain safe controls from a…
Motivated by the key role of control barrier functions (CBFs) in assessing safety and enabling the synthesis of safe controllers in nonlinear control systems, this paper presents a suite of converse results on CBFs. Given any safe set, we…
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…
Recently, barrier certificates have been introduced to prove the safety of continuous or hybrid dynamical systems. A barrier certificate needs to exhibit some barrier function, which partitions the state space in two subsets: the safe…
Control Barrier Functions (CBFs) are becoming popular tools in guaranteeing safety for nonlinear systems and constraints, and they can reduce a constrained optimal control problem into a sequence of Quadratic Programs (QPs) for affine…
In this paper, we consider the problem of verifying safety constraint satisfaction for single-input single-output systems with uncertain transfer function coefficients. We propose a new type of barrier function based on a vector norm. This…
This paper presents two new control approaches for guaranteed safety (remaining in a safe set) subject to actuator constraints (the control is in a convex polytope). The control signals are computed using real-time optimization, including…
Control barrier functions (CBFs) have recently introduced a systematic tool to ensure system safety by establishing set invariance. When combined with a nominal control strategy, they form a safety-critical control mechanism. However, the…
Safety has been a critical issue for the deployment of learning-based approaches in real-world applications. To address this issue, control barrier function (CBF) and its variants have attracted extensive attention for safety-critical…