Related papers: Robust Control Barrier Functions under High Relati…
This work introduces a novel Proxy Control Barrier Function (PCBF) scheme that integrates barrier-based and Lyapunov-based safety-critical control strategies for strict-feedback systems with potentially unknown dynamics. The proposed method…
This paper presents a safety-critical approach to the coordinated control of cooperative robots locomoting in the presence of fixed (holonomic) constraints. To this end, we leverage control barrier functions (CBFs) to ensure the safe…
In this paper we address the problem of control Lyapunov-barrier function (CLBF)-based safe stabilization for a class of nonlinear control-affine systems. A difficulty may arise for the case when a constraint has the relative degree larger…
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…
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…
Obtaining a controlled invariant set is crucial for safety-critical control with control barrier functions (CBFs) but is non-trivial for complex nonlinear systems and constraints. Backup control barrier functions allow such sets to be…
Obstacle avoidance is central to safe navigation, especially for robots with arbitrary and nonconvex geometries operating in cluttered environments. Existing Control Barrier Function (CBF) approaches often rely on analytic clearance…
This paper works towards unifying two popular approaches in the safety control community: Hamilton-Jacobi (HJ) reachability and Control Barrier Functions (CBFs). HJ Reachability has methods for direct construction of value functions that…
Safety-critical control systems, such as spacecraft performing proximity operations, must provide formal safety guarantees despite stochastic uncertainties from state estimation and unmodeled dynamics. Although Control Barrier Functions…
The agents within a multi-agent system (MAS) operating in marine environments often need to utilize task payloads and avoid collisions in coordination, necessitating adherence to a set of relative-pose constraints, which may include…
Certifying the safety of nonlinear systems, through the lens of set invariance and control barrier functions (CBFs), offers a powerful method for controller synthesis, provided a CBF can be constructed. This paper draws connections between…
This paper introduces integral control barrier functions (I-CBFs) as a means to enable the safety-critical integral control of nonlinear systems. Importantly, I-CBFs allow for the holistic encoding of both state constraints and input bounds…
Control barrier functions (CBFs) are widely used in safety-critical controllers. However, constructing a valid CBF is challenging, especially under nonlinear or non-convex constraints and for high relative degree systems. Meanwhile, finding…
This paper investigates the safety analysis and verification of nonlinear systems subject to high-relative-degree constraints and unknown disturbance. The closed-form solution of the high-order control barrier functions (HOCBF) optimization…
Control Barrier Functions (CBFs) offer a framework for ensuring set invariance and designing constrained control laws. However, crafting a valid CBF relies on system-specific assumptions and the availability of an accurate system model,…
Safety has been a critical issue for the deployment of learning-based approaches in real-world applications. To address this issue, control barrier function (CBF) and its variants have attracted extensive attention for safety-critical…
This work presents a safe control design approach that integrates the disturbance observer (DOB) and the control barrier function (CBF) for systems with external disturbances. Different from existing robust CBF results that consider the…
In this paper, we propose a novel approach to synthesize linear feedback controllers for navigating in polygonal environments using noisy measurements and a convex cell decomposition. Our method is based on formulating chance constraints…
This paper presents a systematic method for synthesizing a Control Barrier Function (CBF) that encodes predictive information into a CBF. Unlike other methods, the synthesized CBF can account for changes and time-variations in the…
This paper introduces a novel safety-critical control method through the synthesis of control barrier functions (CBFs) for systems with high-relative-degree safety constraints. By extending the procedure of CBF backstepping, we propose…