Related papers: Control Barrier Functions: Theory and Applications
This paper studies the efficient implementation of safety filters that are designed using control barrier functions (CBFs), which minimally modify a nominal controller to render it safe with respect to a prescribed set of states. Although…
Control barrier function (CBF) has recently started to serve as a basis to develop approaches for enforcing safety requirements in control systems. However, constructing such function for a general system is a non-trivial task. This paper…
This paper extends control barrier functions (CBFs) to high order control barrier functions (HOCBFs) that can be used for high relative degree constraints. The proposed HOCBFs are more general than recently proposed (exponential) HOCBFs. We…
Recent advances in Deep Machine Learning have shown promise in solving complex perception and control loops via methods such as reinforcement and imitation learning. However, guaranteeing safety for such learned deep policies has been a…
This paper addresses the challenge of ensuring safety and feasibility in control systems using Control Barrier Functions (CBFs). Existing CBF-based Quadratic Programs (CBF-QPs) often encounter feasibility issues due to mixed relative degree…
This paper examines the problem of achieving "grace" when controlling dynamical systems for safety, which is defined in terms of providing multi-layered safety assurances. Namely, two safety layers are created: a primary layer that…
Enforcing multiple constraints based on the concept of control barrier functions (CBFs) is a remaining challenge because each of the CBFs requires a condition on the control inputs to be satisfied which may easily lead to infeasibility…
Safety filters based on Control Barrier Functions (CBFs) have emerged as a practical tool for the safety-critical control of autonomous systems. These approaches encode safety through a value function and enforce safety by imposing a…
This paper addresses the synthesis of safety-critical controllers using estimate feedback. We propose an observer-controller interconnection to ensure that the nonlinear system remains safe despite bounded disturbances on the system…
Verifying the safety of controllers is critical for many applications, but is especially challenging for systems with bounded inputs. Backup control barrier functions (bCBFs) offer a structured approach to synthesizing safe controllers that…
The goal of this thesis is to propose the combination of Control-Barrier-Functions (CBF) with Model-Predictive-Control (MPC) resulting in the novel Model-Predictive-Control-Barrier-Function (MPCBF). It can be shown, that the performance of…
This paper introduces a method for effectively controlling the movement of an Unmanned Aerial Vehicle (UAV) within a tunnel. The primary challenge of this problem lies in the UAV's exposure to nonlinear distance-dependent torques and forces…
Control Barrier Functions (CBFs) provide an elegant framework for constraining nonlinear control system dynamics to remain within an invariant subset of a designated safe set. However, identifying a CBF that balances performance-by…
This letter studies the dynamical properties of safety filters designed based on Control Barrier Functions (CBF). This mechanism, which is popular in safety-critical applications, takes a nominal controller and minimally modifies it to…
In this paper, we propose a notion of high-order (zeroing) barrier functions that generalizes the concept of zeroing barrier functions and guarantees set forward invariance by checking their higher order derivatives. The proposed…
Multi-objective safety-critical control entails a diligent design to avoid possibly conflicting scenarios and ensure safety. This paper addresses multi-objective safety-critical control through a novel approach utilizing barrier states…
The control Barrier function approach has been widely used for safe controller synthesis. By solving an online convex quadratic programming problem, an optimal safe controller can be synthesized implicitly in state-space. Since the solution…
This paper takes a step towards addressing the difficulty of constructing Control Barrier Functions (CBFs) for parallel safety boundaries. A single CBF for both boundaries has been reported to be difficult to validate for safety, and we…
Ensuring liveness and safety of autonomous and cyber-physical systems remains a fundamental challenge, particularly when multiple safety constraints are present. This letter advances the theoretical foundations of safety-filter Quadratic…
A controller -- a software module managing hardware behavior -- is a key component of a typical robot system. While control theory gives safety guarantees for standard controller designs, the practical implementation of controllers in…