Related papers: Hybrid Control Barrier Functions for Nonholonomic …
Control systems often must satisfy strict safety requirements over an extended operating lifetime. Control Barrier Functions (CBFs) are a promising recent approach to constructing simple and safe control policies. This paper proposes a…
Control systems operating in the real world face countless sources of unpredictable uncertainties. These random disturbances can render deterministic guarantees inapplicable and cause catastrophic safety failures. To overcome this, this…
Safety is a critical property for control systems in medicine, transportation, manufacturing, and other applications, and can be defined as ensuring positive invariance of a predefined safe set. This paper investigates the problems of…
Time delays in feedback control loops can cause controllers to respond too late, and with excessively large corrective actions, leading to unsafe behavior (violation of state constraints) and controller infeasibility (violation of input…
This paper proposes a controller for safe lane change manoeuvres of autonomous vehicles using high-order control barrier and Lyapunov functions. The inputs are calculated using a quadratic program (CLF-CBF-QP) which admits short calculation…
Safe navigation for an ego vehicle in uncertain environments characterized by dynamic obstacles with unknown nonlinear dynamics is a challenging problem of significant practical interest. Existing approaches in the literature either lack…
This paper proposes a safety-critical controller for dynamic and uncertain environments, leveraging a robust environment control barrier function (ECBF) to enhance the robustness against the measurement and prediction uncertainties…
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,…
We present a closed-form optimal feedback control method that ensures safety in an a prior unknown and potentially dynamic environment. This article considers the scenario where local perception data (e.g., LiDAR) is obtained periodically,…
Verifying the safety of controllers is critical for many applications, but is especially challenging for systems with bounded inputs. Backup control barrier functions (bCBFs) offer a structured approach to synthesizing safe controllers that…
Endowing nonlinear systems with safe behavior is increasingly important in modern control. This task is particularly challenging for real-life control systems that must operate safely in dynamically changing environments. This paper…
In this paper, we establish a connection between model predictive control (MPC) techniques and Control Barrier Functions (CBFs). Recognizing the similarity between CBFs and Control Lyapunov Functions (CLFs), we propose a MPC formulation…
This paper proposes a safety-critical control design approach for nonlinear control affine systems in the presence of matched and unmatched uncertainties. Our constructive framework couples control barrier function (CBF) theory with a new…
This paper introduces harmonic control Lyapunov barrier functions (harmonic CLBF) that aid in constrained control problems such as reach-avoid problems. Harmonic CLBFs exploit the maximum principle that harmonic functions satisfy to encode…
This paper presents a novel hybrid motion planning method for holonomic multi-agent systems. The proposed decentralised model predictive control (MPC) framework tackles the intractability of classical centralised MPC for a growing number of…
In this paper, we present a novel trajectory planning algorithm for cooperative manipulation with multiple quadrotors using control barrier functions (CBFs). Our approach addresses the complex dynamics of a system in which a team of…
Safety-critical control is a crucial aspect of modern systems, and Control Barrier Functions (CBFs) have gained popularity as the framework of choice for ensuring safety. However, implementing a CBF requires exact knowledge of the true…
Safety is one of the most important properties of control systems. Sensor faults and attacks and actuator failures may cause errors in the sensor measurements and system dynamics, which leads to erroneous control inputs and hence safety…
The increasing complexity of modern robotic systems and the environments they operate in necessitates the formal consideration of safety in the presence of imperfect measurements. In this paper we propose a rigorous framework for…
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…