Related papers: Dynamic High-Order Control Barrier Functions with …

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…

This letter presents a nonlinear disturbance observer-parameterized control barrier function (DOp-CBF) designed for a robust safety control system under external disturbances. This framework emphasizes that the safety bounds are relevant to…

Shared autonomy combines human user and AI copilot actions to control complex systems such as robotic arms. When a task is challenging, requires high dimensional control, or is subject to corruption, shared autonomy can significantly…

To improve safety and energy efficiency, autonomous vehicles are expected to drive smoothly in most situations, while maintaining their velocity below a predetermined speed limit. However, some scenarios such as low road adherence or…

This paper studies the problem of utilizing data-driven adaptive control techniques to guarantee stability and safety of uncertain nonlinear systems with high relative degree. We first introduce the notion of a High Order Robust Adaptive…

Balancing safety and performance is one of the predominant challenges in modern control system design. Moreover, it is crucial to robustly ensure safety without inducing unnecessary conservativeness that degrades performance. In this work…

Control policies that can achieve high task performance and satisfy safety constraints are desirable for any system, including multi-agent systems (MAS). One promising technique for ensuring the safety of MAS is distributed control barrier…

In hybrid traffic environments where human-driven vehicles (HDVs) and autonomous vehicles (AVs) coexist, achieving safe and robust decision-making for AV platooning remains a complex challenge. Existing platooning systems often struggle…

Autonomous vehicle path following performance is one of significant consideration. This paper presents discrete time design of robust PD controlled system with disturbance observer (DOB) and communication disturbance observer (CDOB)…

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…

We derive time and energy-optimal policies for a Connected Autonomous Vehicle (CAV) to execute lane change maneuvers in mixed traffic, i.e., in the presence of both CAVs and Human Driven Vehicles (HDVs). These policies are also shown to be…

Simulating diverse and realistic traffic scenarios is critical for developing and testing autonomous planning. Traditional rule-based planners lack diversity and realism, while learning-based simulators often replay, forecast, or edit…

Offline decision-making via diffusion models often produces trajectories that are misaligned with system dynamics, limiting their reliability for control. We propose Model Predictive Diffuser (MPDiffuser), a compositional diffusion…

Ensuring safety in autonomous systems requires controllers that aim to satisfy state-wise constraints without relying on online interaction.While existing Safe Offline RL methods typically enforce soft expected-cost constraints, they…

Obstacle avoidance is central to safe navigation, especially for robots with arbitrary and nonconvex geometries operating in cluttered environments. Existing Control Barrier Function (CBF) approaches often rely on analytic clearance…

In this dissertation, we address a problem of safe and efficient intersection crossing traffic management of autonomous and connected ground traffic. Toward this objective, an algorithm that is called the Discrete-time occupancies…

With the increasing need for safe control in the domain of autonomous driving, model-based safety-critical control approaches are widely used, especially Control Barrier Function (CBF)-based approaches. Among them, Exponential CBF (eCBF) is…

This paper presents a novel safe control framework that integrates Sliding Mode Control (SMC), High-Order Control Barrier Functions (HOCBFs) with state-dependent adaptiveness and a lightweight projection for collision-free navigation of an…

Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…

Conditional diffusion models have made impressive progress in the field of image processing, but the characteristics of constructing data distribution pathways make it difficult to exploit the intrinsic correlation between tasks in…