Related papers: Compositional Construction of Control Barrier Func…
We investigate the control synthesis problem for continuous-time time-varying nonlinear systems with disturbance under a class of multiple reach-avoid (MRA) tasks. Specifically, the MRA task requires the system to reach a series of target…
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…
In this paper, we present an algorithm for synthesizing certificates---so-called barrier certificates---for safety of hybrid dynamical systems. Unlike the usual approach of using constraint solvers to compute the certificate from the system…
In a complex real-time operating environment, external disturbances and uncertainties adversely affect the safety, stability, and performance of dynamical systems. This paper presents a robust stabilizing safety-critical controller…
Control systems operating in the real world face countless sources of unpredictable uncertainties. These random disturbances can render deterministic guarantees inapplicable and cause catastrophic safety failures. To overcome this, this…
The objective of this paper is to solve the controller synthesis problem for bisimulation equivalence in a wide variety of scenarios including discrete-event systems, nonlinear control systems, behavioral systems, hybrid systems and many…
We generalize the system level synthesis framework to systems defined by bounded causal linear operators, and use this parameterization to make connections between robust system level synthesis and classical results from the robust control…
Discrete-time Control Barrier Functions (DTCBFs) are commonly utilized in the literature as a powerful tool for synthesizing control policies that guarantee safety of discrete-time dynamical systems. However, the systematic synthesis of…
Control Lyapunov functions (CLFs) and control barrier functions (CBFs) are widely used tools for synthesizing controllers subject to stability and safety constraints. Paired with online optimization, they provide stabilizing control actions…
This paper presents a method for control synthesis under spatio-temporal constraints. First, we consider the problem of reaching a set $S$ in a user-defined or prescribed time $T$. We define a new class of control Lyapunov functions, called…
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…
We develop an assume-guarantee framework for control of large scale linear (time-varying) systems from finite-time reach and avoid or infinite-time invariance specifications. The contracts describe the admissible set of states and controls…
This paper presents a hybrid safety-critical coordination architecture for multi-agent systems operating in dense environments. While control barrier functions (CBFs) provide formal safety guarantees, decentralized implementations typically…
This contribution introduces a centralized input constrained optimal control framework based on multiple control barrier functions (CBFs) to coordinate connected and automated agents at intersections. For collision avoidance, we propose a…
This paper proposes a method to synthesise controllers for cyber-physical systems such that the controlled systems satisfy specifications given as linear temporal logic formulas. The focus is on systems with disturbance, where future states…
This paper presents a framework for automatic synthesis of a control sequence for multi-agent systems governed by continuous linear dynamics under timed constraints. First, the motion of the agents in the workspace is abstracted into…
This paper presents a safety-critical control framework to maintain bounded lateral motions for vehicles braking on asymmetric surfaces. We synthesize a brake controller that assists drivers and guarantees safety against excessive lateral…
The barrier function method for safety control typically assumes the availability of full state information. Unfortunately, in many scenarios involving uncertain dynamical systems, full state information is often unavailable. In this paper,…
Control Barrier Functions (CBFs) are a practical approach for designing safety-critical controllers, but constructing them for arbitrary nonlinear dynamical systems remains a challenge. Recent efforts have explored learning-based methods,…
This paper proposes a constructive approach to safety control of nonlinear cascade systems subject to multiple state constraints. New design ingredients include a unified characterization of safety and stability for systematic designs of…