Related papers: Control Synthesis for Stability and Safety by Diff…
Control barrier functions-based quadratic programming (CBF-QP) is gaining popularity as an effective controller synthesis tool for safe control. However, the provable safety is established on an accurate dynamic model and access to all…
For nonlinear multi-agent systems with high relative degrees, achieving formation control and obstacle avoidance in a distributed manner remains a significant challenge. To address this issue, we propose a novel distributed safety-critical…
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…
State estimation uncertainty is prevalent in real-world applications, hindering the application of safety-critical control. Existing methods address this by strengthening a Control Barrier Function (CBF) condition either to handle actuation…
Since the mid-1990s, it has been known that, unlike in Cartesian form where Brockett's condition rules out static feedback stabilization, the unicycle is globally asymptotically stabilizable by smooth feedback in polar coordinates. In this…
This paper addresses the problem of safety-critical control for systems with unknown dynamics. It has been shown that stabilizing affine control systems to desired (sets of) states while optimizing quadratic costs subject to state and…
This paper addresses the problem of safety-critical control for non-affine control systems. It has been shown that optimizing quadratic costs subject to state and control constraints can be sub-optimally reduced to a sequence of quadratic…
In robotics, control barrier function (CBF)-based safety filters are commonly used to enforce state constraints. A critical challenge arises when the relative degree of the CBF varies across the state space. This variability can create…
Control Barrier Functions (CBFs) have emerged as an effective and non-invasive safety filter for ensuring the safety of autonomous systems in dynamic environments with formal guarantees. However, most existing works on CBF synthesis focus…
Quadratic Program(QP) based state-feedback controllers, whose inequality constraints bound the rate of change of control barrier(CBFs) and lyapunov function with a class-$\mathcal{K}$ function of their values, are sensitive to the…
Practical stabilization of input-affine systems in the presence of measurement errors and input constraints is considered in this brief note. Assuming that a Lyapunov function and a stabilizing control exist for an input-affine system, the…
This paper addresses the challenge of ensuring safety in stochastic control systems with high-relative-degree constraints, while maintaining feasibility and mitigating conservatism in risk evaluation. Control Barrier Functions (CBFs)…
Recent work has shown that stabilizing an affine control system while optimizing a quadratic cost subject to state and control constraints can be mapped to a sequence of Quadratic Programs (QPs) using Control Barrier Functions (CBFs) and…
Collision avoidance for multirobot systems is a well studied problem. Recently, control barrier functions (CBFs) have been proposed for synthesizing controllers guarantee collision avoidance and goal stabilization for multiple robots.…
High-order control barrier functions (HOCBFs) can be used to provide autonomous systems with safety, though computational methods to verify and synthesize these functions remain lacking. In this work, we address this need by formulating SOS…
In this work, we propose a novel approach for the continuous-time control synthesis of nonlinear systems under nested signal temporal logic (STL) specifications. While the majority of existing literature focuses on control synthesis for STL…
This paper presents a method for control synthesis under spatio-temporal constraints. First, we consider the problem of reaching a set $S$ in a user-defined or prescribed time $T$. We define a new class of control Lyapunov functions, called…
The synthesis of Control Barrier Functions (CBFs) often involves demanding computations or a meticulous construction. However, structural properties of the system dynamics and constraints have the potential to mitigate these challenges. In…
Safety is essential for autonomous systems, in particular for interconnected systems in which the interactions among subsystems are involved. Motivated by the recent interest in cyber-physical and interconnected autonomous systems, we…
This paper considers the synthesis of optimal safe controllers based on density functions. We present an algorithm for robust constrained optimal control synthesis using the duality relationship between the density function and the value…