Related papers: Soft Actor-Critic-based Control Barrier Adaptation…
We develop a novel adaptation-based technique for safe control design in the presence of multiple control barrier function (CBF) constraints. Specifically, we introduce an approach for synthesizing any number of candidate CBFs into one…
This paper presents a safety-critical approach to the coordination of robots in dynamic environments. To this end, we leverage control barrier functions (CBFs) with the forward reachable set to guarantee the safe coordination of the robots…
Robotic manipulation in unstructured environments requires reliable execution under diverse conditions, yet many state-of-the-art systems still struggle with high-dimensional action spaces, sparse rewards, and slow generalization beyond…
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…
Planning and control for high-dimensional robot manipulators in cluttered dynamic environments require computational efficiency and robust safety guarantees. Inspired by recent advances in learning configuration-space distance functions…
Maintaining safety under adaptation has long been considered to be an important capability for autonomous systems. As these systems estimate and change the ego-model of the system dynamics, questions regarding how to develop safety…
In this paper, we propose a novel Control Barrier Function (CBF) based controller for nonlinear systems with complex, time-varying input constraints. To deal with these constraints, we introduce an auxiliary control input to transform the…
Robots operating in everyday environments must navigate and manipulate within densely cluttered spaces, where physical contact with surrounding objects is unavoidable. Traditional safety frameworks treat contact as unsafe, restricting…
There are two major challenges for scaling up robot navigation around dynamic obstacles: the complex interaction dynamics of the obstacles can be hard to model analytically, and the complexity of planning and control grows exponentially in…
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 address the problem of optimizing the performance of a dynamic system while satisfying hard safety constraints at all times. Implementing an optimal control solution is limited by the computational cost required to derive it in real…
Control Barrier Functions offer safety certificates by dictating controllers that enforce safety constraints. However, their response depends on the classK function that is used to restrict the rate of change of the value of the barrier…
Control barrier functions (CBFs) are widely used in safety-critical controllers. However, constructing a valid CBF is challenging, especially under nonlinear or non-convex constraints and for high relative degree systems. Meanwhile, finding…
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…
This paper presents a safety-critical approach to the coordinated control of cooperative robots locomoting in the presence of fixed (holonomic) constraints. To this end, we leverage control barrier functions (CBFs) to ensure the safe…
Control barrier functions (CBFs) offer an efficient framework for designing real-time safe controllers. However, CBF-based controllers can be short-sighted, resulting in poor performance, a behaviour which is aggravated in uncertain…
For efficient and robust task accomplishment in multi-agent systems, an agent must be able to distinguish cooperative agents from non-cooperative agents, i.e., uncooperative and adversarial agents. Task descriptions capturing safety and…
The paper focuses on the design of a control strategy for safety-critical remote teleoperation. The main goal is to make the controlled system track the desired velocity specified by an operator while avoiding obstacles despite…
Safety is one of the most crucial challenges of autonomous driving vehicles, and one solution to guarantee safety is to employ an additional control revision module after the planning backbone. Control Barrier Function (CBF) has been widely…
Control Barrier Functions (CBFs) have emerged as a powerful tool in the design of safety-critical controllers for nonlinear systems. In modern applications, complex systems often involve the feedback interconnection of subsystems evolving…