Related papers: A Control Barrier Function Composition Approach fo…

This paper presents a new approach for guaranteed safety subject to input constraints (e.g., actuator limits) using a composition of multiple control barrier functions (CBFs). First, we present a method for constructing a single CBF from…

We consider the problem of safely coordinating ensembles of identical autonomous agents to conduct complex missions with conflicting safety requirements and under noisy control inputs. Using non-smooth control barrier functions (CBFs) and…

The increasing complexity of control systems necessitates control laws that guarantee safety w.r.t. complex combinations of constraints. In this letter, we propose a framework to describe compositional safety specifications with control…

This paper investigates the problem of composing multiple control barrier functions (CBFs) -- and matrix control barrier functions (MCBFs) -- through logical and combinatorial operations. Standard CBF formulations naturally enable…

This paper addresses the problem of guaranteeing safety of multiple coordinated agents moving in dynamic environments. It has recently been shown that this problem can be efficiently solved through the notion of Control Barrier Functions…

We propose a unified framework to fast generate a safe optimal control action for a new task from existing controllers on Multi-Agent Systems (MASs). The control action composition is achieved by taking a weighted mixture of the existing…

This paper presents a decentralized safety filter for collision avoidance in multi-agent aerospace interception scenarios. The approach leverages robust control barrier functions (RCBFs) to guarantee forward invariance of safety sets under…

This paper presents a methodology for ensuring that the composition of multiple Control Barrier Functions (CBFs) always leads to feasible conditions on the control input, even in the presence of input constraints. In the case of a system…

In this paper, we propose a method to avoid "no-solution" situations of the control barrier function (CBF) for distributed collision avoidance in a multiagent autonomous robotic system (MARS). MARS, which is composed of distributed…

Control barrier functions (CBFs) provide an effective framework for enforcing safety in dynamical systems with scalar constraints. However, many safety constraints are more naturally expressed as matrix-valued conditions, such as positive…

Control Barrier Functions (CBFs) provide an elegant framework for constraining nonlinear control system dynamics to remain within an invariant subset of a designated safe set. However, identifying a CBF that balances performance-by…

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 introduces a safe force/position tracking control strategy designed for Free-Floating Mobile Manipulator Systems (MMSs) engaging in compliant contact with planar surfaces. The strategy uniquely integrates the Control Barrier…

Control Barrier Functions (CBFs) are an effective methodology to ensure safety and performative efficacy in real-time control applications such as power systems, resource allocation, autonomous vehicles, robotics, etc. This approach ensures…

This paper presents a feasibility-enhanced control barrier function (FECBF) framework for multi-UAV collision avoidance. In dense multi-UAV scenarios, the feasibility of the CBF quadratic program (CBF-QP) can be compromised due to internal…

Because of the scalability issues associated with the symbolic controller synthesis approach, employing it in a multi-agent system (MAS) framework becomes difficult. In this paper, we present a novel approach for synthesizing distributed…

This paper introduces the notion of an Input Constrained Control Barrier Function (ICCBF), as a method to synthesize safety-critical controllers for non-linear control affine systems with input constraints. The method identifies a subset of…

Control Barrier Functions (CBFs) are a practical approach for designing safety-critical controllers, but constructing them for arbitrary nonlinear dynamical systems remains a challenge. Recent efforts have explored learning-based methods,…

This paper investigates the distributed safety critical control for multi-agent systems (MASs) in the presence of uncontrollable agents with uncertain behaviors. To ensure system safety, the control barrier function (CBF) is employed in…

This paper presents an approach for navigation and control in unmapped environments under input and state constraints using a composite control barrier function (CBF). We consider the scenario where real-time perception feedback (e.g.,…