Related papers: Collaborative Safety-Critical Control for Dynamica…
This paper tackles the problem of safe and efficient area coverage using a multi-agent system operating in environments with obstacles. Applications such as environmental monitoring and search and rescue require robot swarms to cover large…
Safety is a fundamental requirement for autonomous systems operating in critical domains. Control barrier functions (CBFs) have been used to design safety filters that minimally alter nominal controls for such systems to maintain their…
Safety critical systems involve the tight coupling between potentially conflicting control objectives and safety constraints. As a means of creating a formal framework for controlling systems of this form, and with a view toward automotive…
Safety-critical motion planning in mixed traffic remains challenging for autonomous vehicles, especially when it involves interactions between the ego vehicle (EV) and surrounding vehicles (SVs). In dense traffic, the feasibility of a lane…
Control Barrier Functions (CBFs) have emerged as a powerful paradigm in control theory, providing a principled approach to enforcing safety-critical constraints in dynamic systems. This survey paper comprehensively explores the foundational…
Uncertainties arising in various control systems, such as robots that are subject to unknown disturbances or environmental variations, pose significant challenges for ensuring system safety, such as collision avoidance. At the same time,…
Ensuring both performance and safety is critical for autonomous systems operating in real-world environments. While safety filters such as Control Barrier Functions (CBFs) enforce constraints by modifying nominal controllers in real time,…
In this paper, we study the relationship between systems controlled via Control Barrier Function (CBF) approaches and a class of discontinuous dynamical systems, called Projected Dynamical Systems (PDSs). In particular, under appropriate…
In emerging control applications involving multiple and complex tasks, safety filters are gaining prominence as a modular approach to enforcing safety constraints. Among various methods, control barrier functions (CBFs) are widely used for…
Autonomous vehicles face tremendous challenges while interacting with human drivers in different kinds of scenarios. Developing control methods with safety guarantees while performing interactions with uncertainty is an ongoing research…
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…
Control barrier functions (CBF) have become popular as a safety filter to guarantee the safety of nonlinear dynamical systems for arbitrary inputs. However, it is difficult to construct functions that satisfy the CBF constraints for high…
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…
Addressing complex cooperative tasks in safety-critical environments poses significant challenges for multi-agent systems, especially under conditions of partial observability. We focus on a dynamic network bridging task, where agents must…
In safety-critical control, managing safety constraints with high relative degrees and uncertain obstacle dynamics pose significant challenges in guaranteeing safety performance. Robust Control Barrier Functions (RCBFs) offer a potential…
Safety-critical control tasks with high levels of uncertainty are becoming increasingly common. Typically, techniques that guarantee safety during learning and control utilize constraint-based safety certificates, which can be leveraged to…
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…
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…
In this article, we propose a control architecture for the safe, coordinated operation of a multi-agent system with aerial (UAVs) and ground (UGVs) robots in a confined task space. We consider the case where the aerial and ground operations…
This paper presents a formal framework for collision avoidance in multi-robot systems, wherein an existing controller is modified in a minimally invasive fashion to ensure safety. We build this framework through the use of control barrier…