Related papers: ShieldNN: A Provably Safe NN Filter for Unsafe NN …
Ensuring safety in autonomous systems requires controllers that aim to satisfy state-wise constraints without relying on online interaction.While existing Safe Offline RL methods typically enforce soft expected-cost constraints, they…
Despite the strong performance of large language models (LLMs) across diverse tasks, their susceptibility to adversarial attacks and unsafe content generation remains a significant obstacle to deployment, particularly in high-stakes…
Binarized Neural Networks (BNN) offer efficient implementations for machine learning tasks and facilitate Privacy-Preserving Machine Learning (PPML) by simplifying operations with binary values. Nevertheless, challenges persist in terms of…
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…
Grid-forming (GFM) converters face significant challenges in limiting current during transient grid events while preserving their grid-forming behavior. This paper offers an elegant solution to the problem with a priori guarantees,…
Control Barrier Functions (CBFs) can provide provable safety guarantees for dynamic systems. However, finding a valid CBF for a system of interest is often non-trivial, especially for systems having low computational resources, higher-order…
This work presents a unified approach for collision avoidance using Collision-Cone Control Barrier Functions (CBFs) in both ground (UGV) and aerial (UAV) unmanned vehicles. We propose a novel CBF formulation inspired by collision cones, to…
This paper introduces the notion of an Input Constrained Control Barrier Function (ICCBF), as a method to synthesize safety-critical controllers for non-linear control affine systems with input constraints. The method identifies a subset of…
The existence of a Control Barrier Function (CBF) for a control-affine system provides a powerful design tool to ensure safety. Any controller that satisfies the CBF condition and ensures that the trajectories of the closed-loop system are…
Optimal control methods provide solutions to safety-critical problems but easily become intractable. Control Barrier Functions (CBFs) have emerged as a popular technique that facilitates their solution by provably guaranteeing safety,…
Control barrier functions (CBFs) are a popular approach to design feedback laws that achieve safety guarantees for nonlinear systems. The CBF-based controller design relies on the availability of a model to select feasible inputs from the…
Control barrier functions (CBFs) are a powerful tool for synthesizing safe control actions; however, constructing CBFs remains difficult for general nonlinear systems. In this work, we provide a constructive framework for synthesizing CBFs…
This paper proposes a control design approach for stabilizing nonlinear control systems. Our key observation is that the set of points where the decrease condition of a control Lyapunov function (CLF) is feasible can be regarded as a safe…
Control barrier functions-based quadratic programming (CBF-QP) is gaining popularity as an effective controller synthesis tool for safe control. However, the provable safety is established on an accurate dynamic model and access to all…
Reinforcement learning (RL) has proven to be particularly effective in solving complex decision-making problems for a wide range of applications. Safe reinforcement learning refers to a class of constrained problems where the constraint…
Control Lyapunov Functions (CLFs) and Control Barrier Functions (CBFs) can be combined, typically by means of Quadratic Programs (QPs), to design controllers that achieve performance and safety objectives. However, a significant limitation…
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…
This paper addresses the challenge of ensuring safety in stochastic control systems with high-relative-degree constraints, while maintaining feasibility and mitigating conservatism in risk evaluation. Control Barrier Functions (CBFs)…
With the increase in data availability, it has been widely demonstrated that neural networks (NN) can capture complex system dynamics precisely in a data-driven manner. However, the architectural complexity and nonlinearity of the NNs make…
Learning-based control has recently shown great efficacy in performing complex tasks for various applications. However, to deploy it in real systems, it is of vital importance to guarantee the system will stay safe. Control Barrier…