Related papers: On the relationship between control barrier functi…
We introduce a novel approach for safe control design based on the density function. A control density function (CDF) is introduced to synthesize a safe controller for a nonlinear dynamic system. The CDF can be viewed as a dual to the…
In this paper, we study a safe control design for dynamical systems in the presence of uncertainty in a dynamical environment. The worst-case error approach is considered to formulate robust Control Barrier Functions (CBFs) in an…
This paper addresses a distributed leader-follower formation control problem for a group of agents, each using a body-fixed camera with a limited field of view (FOV) for state estimation. The main challenge arises from the need to…
Control barrier functions have been widely used for synthesizing safety-critical controls, often via solving quadratic programs. However, the existence of Gaussian-type noise may lead to unsafe actions and result in severe consequences. In…
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…
Inspired by the success of imitation and inverse reinforcement learning in replicating expert behavior through optimal control, we propose a learning based approach to safe controller synthesis based on control barrier functions (CBFs). We…
With the increasing complexity of real-world systems and varying environmental uncertainties, it is difficult to build an accurate dynamic model, which poses challenges especially for safety-critical control. In this paper, a learning-based…
This paper presents a safe controller synthesis of discrete-time stochastic systems using Control Barrier Functions (CBFs). The proposed condition allows the design of a safe controller synthesis that ensures system safety while avoiding…
Ensuring safe exploration in high-dimensional systems with unknown dynamics remains a significant challenge. Existing safe reinforcement learning methods often provide safety guarantees only in expectation, which can still lead to safety…
The existence of a Control Barrier Function (CBF) for a control-affine system provides a powerful design tool to ensure safety. Any controller that satisfies the CBF condition and ensures that the trajectories of the closed-loop system are…
Ensuring the safety of complex dynamical systems often relies on Hamilton-Jacobi (HJ) Reachability Analysis or Control Barrier Functions (CBFs). Both methods require computing a function that characterizes a safe set that can be made…
Control barrier functions (CBFs) have recently introduced a systematic tool to ensure system safety by establishing set invariance. When combined with a nominal control strategy, they form a safety-critical control mechanism. However, the…
This paper proposes a safety-critical controller for dynamic and uncertain environments, leveraging a robust environment control barrier function (ECBF) to enhance the robustness against the measurement and prediction uncertainties…
In this paper, we develop a novel adaptation-based approach to constrained control design under multiple state and input constraints. Specifically, we introduce a method for synthesizing any number of time-varying candidate control barrier…
Control barrier function (CBF)-based safety filters provide a systematic way to enforce state constraints, but they can significantly alter the closed-loop dynamics induced by a nominal, stabilizing controller. In particular, the resulting…
We study a control architecture for nonlinear constrained systems that integrates a performance-boosting (PB) controller with a scheduled Predictive Safety Filter (PSF). The PSF acts as a pre-stabilizing base controller that enforces state…
Control barrier functions (CBF) are widely explored to enforce the safety-critical constraints on nonlinear systems recently. There are many researchers incorporating the control barrier functions into path planning algorithms to find a…
Continuous-time projected dynamical systems are an elementary class of discontinuous dynamical systems with trajectories that remain in a feasible domain by means of projecting outward-pointing vector fields. They are essential when…
This paper investigates the design of a subclass of time-varying Control Barrier Functions (CBFs), specifically that of uniformly time-varying CBFs. Leveraging the fact that CBFs encode a system's dynamic capabilities relative to a state…
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…