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Quadrotors have gained popularity over the last decade, aiding humans in complex tasks such as search and rescue, mapping and exploration. Despite their mechanical simplicity and versatility compared to other types of aerial vehicles, they…

The use of control barrier functions under uncertain pose information of multiple small servicing agents is analyzed for a satellite servicing application. The application consists of modular servicing agents deployed towards a tumbling…

The use of autonomous vehicles in real-world applications is often precluded by the difficulty of providing safety guarantees for their complex controllers. The simulation-based testing of these controllers cannot deliver sufficient safety…

This paper develops and experimentally evaluates a navigation function for quadrotor formation flight that is resilient to abrupt quadrotor failures and other obstacles. The navigation function is based on modeling healthy quadrotors as…

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…

Safe decision-making algorithms for control of mobile robots often require the existence of feedback to verify the safety of proposed actions. This feedback is assumed to be directly available during the development or deployment of the…

We present a simulation-based approach for generating barrier certificate functions for safety verification of cyber-physical systems (CPS) that contain neural network-based controllers. A linear programming solver is utilized to find a…

This letter presents a closed-form solution of Control Barrier Function (CBF) framework for enforcing safety constraints on a Stewart robotic platform. The proposed method simultaneously handles multiple position and velocity constraints…

In this paper, we present a domain specific process to assist the verification of observer-based fault detection software. Observer-based fault detection systems, like control systems, yield invariant properties of quadratic types. These…

A safe controller for multicopter is proposed using control barrier function. Multicopter dynamics are reformulated to deal with mixed-relative-degree and non-strict-feedback-form dynamics, and a time-varying safe backstepping controller is…

Many control applications require that a system be constrained to a particular set of states, often termed as safe set. A practical and flexible method for rendering safe sets forward-invariant involves computing control input using Control…

This paper presents a method to control a manipulator system grasping a rigid-body payload so that the motion of the combined system in consequence of externally applied forces to be the same as another free-floating rigid-body (with…

This paper studies the problem of enforcing safety of a stochastic dynamical system over a finite-time horizon. We use stochastic control barrier functions as a means to quantify the probability that a system exits a given safe region of…

Obstacle avoidance is a fundamental vision-based task essential for enabling quadrotors to perform advanced applications. When planning the trajectory, existing approaches both on optimization and learning typically regard quadrotor as a…

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…

Control barrier functions are a popular method of ensuring system safety, and these functions can be used to enforce invariance of a set under the dynamics of a system. A control barrier function must have certain properties, and one must…

Fault-tolerant control is crucial for safety-critical systems, such as quadrotors. State-of-art flight controllers can stabilize and control a quadrotor even when subjected to the complete loss of a rotor. However, these methods rely on…

Planning safe trajectories under model uncertainty is a fundamental challenge. Robust planning ensures safety by considering worst-case realizations, yet ignores uncertainty reduction and leads to overly conservative behavior. Actively…

Space robotics applications, such as Active Space Debris Removal (ASDR), require representative testing before launch. A commonly used approach to emulate the microgravity environment in space is air-bearing based platforms on flat-floors,…

Safe control for inherently unstable systems such as quadrotors is crucial. Imposing multiple dynamic constraints simultaneously on the states for safety regulation can be a challenging problem. In this paper, we propose a quadratic…