Related papers: Control Barrier Functions With Unmodeled Dynamics …
Dynamic obstacle avoidance is a challenging topic for optimal control and optimization-based trajectory planning problems. Many existing works use Control Barrier Functions (CBFs) to enforce safety constraints for control systems. CBFs are…
This paper studies safety and feasibility guarantees for systems with tight control bounds. It has been shown that stabilizing an affine control system while optimizing a quadratic cost and satisfying state and control constraints can be…
The problem of control based on vision measurements (bearings) has been amply studied in the literature; however, the problem of addressing the limits of the field of view of physical sensors has received relatively less attention…
In this paper, we define and analyze a subclass of (time-invariant) Control Barrier Functions (CBF) that have favorable properties for the construction of uniformly timevarying CBFs and thereby for the satisfaction of uniformly time-varying…
Adaptive control provides closed-loop stability and reference tracking for uncertain dynamical systems through online parameter adaptation. These properties alone, however, do not ensure safety in the sense of forward invariance of state…
Safety is one of the most important properties of control systems. Sensor faults and attacks and actuator failures may cause errors in the sensor measurements and system dynamics, which leads to erroneous control inputs and hence safety…
This paper studies the efficient implementation of safety filters that are designed using control barrier functions (CBFs), which minimally modify a nominal controller to render it safe with respect to a prescribed set of states. Although…
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…
Control barrier functions provide a powerful means for synthesizing safety filters that ensure safety framed as forward set invariance. Key to CBFs' effectiveness is the simple inequality on the system dynamics: $\dot{h} \geq - \alpha(h)$.…
This paper presents a new control barrier function (CBF) designed to improve the efficiency of collision avoidance for nonholonomic vehicles. Traditional CBFs typically rely on the shortest Euclidean distance to obstacles, overlooking the…
Inspired by the success of control barrier functions (CBFs) in addressing safety, and the rise of data-driven techniques for modeling functions, we propose a non-parametric approach for online synthesis of CBFs using Gaussian Processes…
Control Barrier Functions (CBFs) have become powerful tools for ensuring safety in nonlinear systems. However, finding valid CBFs that guarantee persistent safety and feasibility remains an open challenge, especially in systems with input…
Robots deployed in unstructured, real-world environments operate under considerable uncertainty due to imperfect state estimates, model error, and disturbances. Given this real-world context, the goal of this paper is to develop controllers…
The safety-critical nature of adaptive cruise control (ACC) systems calls for systematic design procedures, e.g., based on formal methods or control barrier functions (CBFs), to provide strong guarantees of safety and performance under all…
While control barrier functions (CBFs) are employed in addressing safety, control synthesis methods based on them generally rely on accurate system dynamics. This is a critical limitation, since the dynamics of complex systems are often not…
This manuscript considers the problem of ensuring stability and safety during formation control with distributed multi-agent systems in the presence of parametric uncertainty in the dynamics and limited communication. We propose an…
This work presents a theoretical framework for the safety-critical control of time delay systems. The theory of control barrier functions, that provides formal safety guarantees for delay-free systems, is extended to systems with state…
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…
Collision avoidance is a widely investigated topic in robotic applications. When applying collision avoidance techniques to a mobile robot, how to deal with the spatial structure of the robot still remains a challenge. In this paper, we…
Achieving safe autonomous navigation systems is critical for deploying robots in dynamic and uncertain real-world environments. In this paper, we propose a hierarchical control framework leveraging neural network verification techniques to…