Related papers: Control Barrier Functions with Actuation Constrain…
Construction automation increasingly requires autonomous mobile robots, yet robust autonomy remains challenging on construction sites. These environments are dynamic and often visually occluded, which complicates perception and navigation.…
Control Barrier Functions (CBFs) are becoming popular tools in guaranteeing safety for nonlinear systems and constraints, and they can reduce a constrained optimal control problem into a sequence of Quadratic Programs (QPs) for affine…
This paper presents a time-varying soft-maximum composite control barrier function (CBF) that can be used to ensure safety in an a priori unknown environment, where local perception information regarding the safe set is periodically…
In this paper, we study Stochastic Control Barrier Functions (SCBFs) to enable the design of probabilistic safe real-time controllers in presence of uncertainties and based on noisy measurements. Our goal is to design controllers that bound…
Control barrier functions (CBFs) enable guaranteed safe multi-agent navigation in the continuous domain. The resulting navigation performance, however, is highly sensitive to the underlying hyperparameters. Traditional approaches consider…
This paper takes a step towards addressing the difficulty of constructing Control Barrier Functions (CBFs) for parallel safety boundaries. A single CBF for both boundaries has been reported to be difficult to validate for safety, and we…
Safety in dynamical systems is commonly pursued using control barrier functions (CBFs) which enforce safety-constraints over the entire duration of a system's evolution. We propose a prescribed-time safety (PTSf) design which enforces…
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…
This paper presents methodologies for constructing Control Barrier Functions (CBFs) for nonlinear, control-affine systems, in the presence of input constraints and bounded disturbances. More specifically, given a constraint function with…
This paper presents a comprehensive approach for the safety-critical control of robotic manipulators operating in dynamic environments. Building upon the framework of Control Barrier Functions (CBFs), we extend the collision cone…
Control Barrier Functions (CBFs) have become a popular tool for enforcing set invariance in safety-critical control systems. While guaranteeing safety, most CBF approaches are myopic in the sense that they solve an optimization problem at…
In this paper, we investigate safety-critical control problem of discrete-time stochastic systems with incomplete information, where safety constraints must be enforced using state estimates obtained from noisy measurements. We develop an…
Control barrier functions guarantee safety but typically require accurate system models. Parametric uncertainty invalidates these guarantees. Existing robust methods maintain safety via worst-case bounds, limiting performance, while modular…
A common assumption on the deployment of safeguarding controllers on the digital platform is that high sampling frequency translates to a small violation of safety. This paper investigates and formalizes this assumption through the lens of…
Prescribed-time reach-avoid-stay (PT-RAS) specifications are crucial in applications requiring precise timing, state constraints, and safety guarantees. While control carrier functions (CBFs) have emerged as a promising approach, providing…
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…
This paper presents extensions of control barrier function (CBF) and control Lyapunov function (CLF) theory to systems wherein all actuators cause impulsive changes to the state trajectory, and can only be used again after a minimum dwell…
In a complex real-time operating environment, external disturbances and uncertainties adversely affect the safety, stability, and performance of dynamical systems. This paper presents a robust stabilizing safety-critical controller…
Among the promising approaches to enforce safety in control systems, learning Control Barrier Functions (CBFs) from expert demonstrations has emerged as an effective strategy. However, a critical challenge remains: verifying that the…
Over the decades, kinematic controllers have proven to be practically useful for applications like set-point and trajectory tracking in robotic systems. To this end, we formulate a novel safety-critical paradigm for kinematic control in…