Related papers: Control Barrier Functions for Abstraction-Free Con…
Optimal control for safety-critical systems is often dependent on the conservativeness of constraints. Control Barrier Functions (CBFs) serve as a medium to represent such constraints, but constructing a minimally conservative CBF is a…
We present an on-the-fly synthesis framework for Linear Temporal Logic over finite traces (LTLf) based on top-down deterministic automata construction. Existing approaches rely on constructing a complete Deterministic Finite Automaton (DFA)…
Safety critical systems involve the tight coupling between potentially conflicting control objectives and safety constraints. As a means of creating a formal framework for controlling systems of this form, and with a view toward automotive…
Correct-by-construction techniques, such as control barrier functions (CBFs), can be used to guarantee closed-loop safety by acting as a supervisor of an existing or legacy controller. However, supervisory-control intervention typically…
Control Barrier Functions (CBFs) have proven to be an effective tool for performing safe control synthesis for nonlinear systems. However, guaranteeing safety in the presence of disturbances and input constraints for high relative degree…
Control barrier functions (CBF) have become popular as a safety filter to guarantee the safety of nonlinear dynamical systems for arbitrary inputs. However, it is difficult to construct functions that satisfy the CBF constraints for high…
We propose a method for efficient training of Q-functions for continuous-state Markov Decision Processes (MDPs) such that the traces of the resulting policies satisfy a given Linear Temporal Logic (LTL) property. LTL, a modal logic, can…
We consider the synthesis of distributed implementations for specifications in parameterized temporal logics such as PROMPT-LTL, which extends LTL by temporal operators equipped with parameters that bound their scope. For single process…
In safety-critical control systems, ensuring both safety and feasibility under sampled-data implementations is crucial for practical deployment. Existing Control Barrier Function (CBF) frameworks, such as High-Order CBFs (HOCBFs),…
Hybrid dynamical systems are ubiquitous as practical robotic applications often involve both continuous states and discrete switchings. Safety is a primary concern for hybrid robotic systems. Existing safety-critical control approaches for…
We introduce a tableau decision method for deciding realizability of specifications expressed in a safety fragment of LTL that includes bounded future temporal operators. Tableau decision procedures for temporal and modal logics have been…
Signal Temporal Logic (STL) specifications play a crucial role in defining complex temporal properties and behaviors in safety-critical cyber-physical systems (CPS). However, fault diagnosis (FD) and fault-tolerant control (FTC) for CPS…
We introduce a technique for synthesis of control and communication strategies for a team of agents from a global task specification given as a Linear Temporal Logic (LTL) formula over a set of properties that can be satisfied by the…
Ensuring safety for autonomous systems under uncertainty remains challenging, particularly when safety of the true state is required despite the true state not being fully known. Control barrier functions (CBFs) have become widely adopted…
We introduce a hybrid (discrete--continuous) safety controller which enforces strict state and input constraints on a system---but only acts when necessary, preserving transparent operation of the original system within some safe region of…
We study the prescribed-time reach-avoid (PT-RA) control problem for nonlinear systems with unknown dynamics operating in environments with moving obstacles. Unlike robust or learning based Control Barrier Function (CBF) methods, the…
Safety is a fundamental requirement for autonomous systems operating in critical domains. Control barrier functions (CBFs) have been used to design safety filters that minimally alter nominal controls for such systems to maintain their…
This work develops a robust adaptive control strategy for discrete-time systems using Control Barrier Functions (CBFs) to ensure safety under parametric model uncertainty and disturbances. A key contribution of this work is establishing a…
The fundamental idea of this work is to synthesize reactive controllers such that closed-loop execution trajectories of the system satisfy desired specifications that ensure correct system behaviors, while optimizing a desired performance…
This article presents a systematic method for designing time-varying Control Barrier Functions (CBF) composed of a time-invariant component and multiple time-dependent components, leveraging structural properties of the system dynamics. The…