Related papers: Quadrotor Stabilization with Safety Guarantees: A …
In systems where the ability to actuate is a scarce resource, e.g., spacecrafts, it is desirable to only apply a given controller in an intermittent manner--with periods where the controller is on and periods where it is off. Motivated by…
Recent work showed that stabilizing affine control systems to desired (sets of) states while optimizing quadratic costs and observing state and control constraints can be reduced to quadratic programs (QP) by using control barrier functions…
Quadrotor stabilizing controllers often require careful, model-specific tuning for safe operation. We use reinforcement learning to train policies in simulation that transfer remarkably well to multiple different physical quadrotors. Our…
The recent development of globally strict control Lyapunov functions (CLFs) for the challenging unicycle parking problem provides a foundation for pursuing optimality. We address this in the inverse optimal framework, thereby avoiding the…
In many real-world reinforcement learning (RL) problems, besides optimizing the main objective function, an agent must concurrently avoid violating a number of constraints. In particular, besides optimizing performance it is crucial to…
Platooning can serve as an effective management measure for connected and autonomous vehicles (CAVs) to ensure overall traffic efficiency. Current study focus on the longitudinal control of CAV platoons, however it still remains a…
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…
It has been shown that satisfying state and control constraints while optimizing quadratic costs subject to desired (sets of) state convergence for affine control systems can be reduced to a sequence of quadratic programs (QPs) by using…
Many robotic tasks require high-dimensional sensors such as cameras and Lidar to navigate complex environments, but developing certifiably safe feedback controllers around these sensors remains a challenging open problem, particularly when…
This paper studies the problem of finite-time convergence to a prescribed safe set for nonlinear systems whose initial states violate the safety constraints. Existing Control Lyapunov-Barrier Functions (CLBFs) can enforce recovery to the…
We propose a novel approach to certify closed-loop stability and safety of a constrained polynomial system based on the combination of Control Lyapunov Functions (CLFs) and Control Barrier Functions (CBFs). For polynomial systems that are…
Control barrier function (CBF)-based methods provide the minimum modification necessary to formally guarantee safety in the context of quadratic programming, and strict safety guarantee for safety critical systems. However, most CBF-related…
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…
This article introduces a novel sample-efficient curriculum learning (CL) approach for training an end-to-end reinforcement learning (RL) policy for robust stabilization of a Quadrotor. The learning objective is to simultaneously stabilize…
Control barrier functions (CBFs) have seen widespread success in providing forward invariance and safety guarantees for dynamical control systems. A crucial limitation of discrete-time formulations is that CBFs that are nonconcave in their…
This paper introduces a quadrotor's autonomous take-off and landing system on a moving platform. The designed system addresses three challenging problems: fast pose estimation, restricted external localization, and effective obstacle…
This paper addresses the problem of designing a trajectory tracking control law for a quadrotor UAV, subsequent to complete failure of a single rotor. The control design problem considers the reduced state space which excludes the angular…
Safety is the foremost concern for autonomous platooning. The vehicle-to-vehicle (V2V) communication delay and the sudden appearance of obstacles will trigger the safety of the intended functionality (SOTIF) issues for autonomous…
Quadrotors hold significant promise for several applications such as agriculture, search and rescue, and infrastructure inspection. Achieving autonomous operation requires systems to navigate safely through complex and unfamiliar…
This paper proposes an optimization with penalty-based feedback design framework for safe stabilization of control affine systems. Our starting point is the availability of a control Lyapunov function (CLF) and a control barrier function…