Related papers: Piecewise Control Barrier Functions for Stochastic…
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…
A barrier certificate often serves as an inductive invariant that isolates an unsafe region from the reachable set of states, and hence is widely used in proving safety of hybrid systems possibly over an infinite time horizon. We present a…
This paper addresses the synthesis of safety-critical controllers using estimate feedback. We propose an observer-controller interconnection to ensure that the nonlinear system remains safe despite bounded disturbances on the system…
In this work, we propose a compositional framework for the construction of control barrier functions for networks of continuous-time stochastic hybrid systems enforcing complex logic specifications expressed by finite-state automata. The…
We present a new method for the automated synthesis of safe and robust Proportional-Integral-Derivative (PID) controllers for stochastic hybrid systems. Despite their widespread use in industry, no automated method currently exists for…
We propose an adversarial, time-varying test-synthesis procedure for safety-critical systems without requiring specific knowledge of the underlying controller steering the system. From a broader test and evaluation context, determination of…
Safe control with guarantees generally requires the system model to be known. It is far more challenging to handle systems with uncertain parameters. In this paper, we propose a generic algorithm that can synthesize and verify safe…
Reach-avoid analysis is fundamental to reasoning about the safety and goal-reaching behavior of dynamical systems, and serves as a foundation for specifying and verifying more complex control objectives. This paper introduces a reach-avoid…
We consider the problem of safety verification and safety-aware controller synthesis for systems with sector bounded nonlinearities. We aim to keep the states of the system within a given safe set under potential actuator and sensor…
Discrete-time Control Barrier Functions (DTCBFs) have recently attracted interest for guaranteeing safety and synthesizing safe controllers for discrete-time dynamical systems. This paper addresses the open challenges of verifying candidate…
A barrier certificate can separate the state space of a con- sidered hybrid system (HS) into safe and unsafe parts ac- cording to the safety property to be verified. Therefore this notion has been widely used in the verification of HSs. A…
Guaranteeing safety for robotic and autonomous systems in real-world environments is a challenging task that requires the mitigation of stochastic uncertainties. Control barrier functions have, in recent years, been widely used for…
Barrier certificates are scalar functions over the state space of dynamical systems that separate all unsafe states from all reachable states. The existence of a barrier certificate formally verifies the safety of the dynamical system.…
Control barrier functions are mathematical constructs used to guarantee safety for robotic systems. When integrated as constraints in a quadratic programming optimization problem, instantaneous control synthesis with real-time performance…
Finding a controlled-invariant set for a system with state and control constraints is crucial for safety-critical applications. However, existing methods often produce overly conservative solutions. This paper presents a method for…
This tutorial paper presents recent work of the authors that extends the theory of Control Barrier Functions (CBFs) to address practical challenges in the synthesis of safe controllers for autonomous systems and robots. We present novel…
We introduce an automated, formal, counterexample-based approach to synthesise Barrier Certificates (BC) for the safety verification of continuous and hybrid dynamical models. The approach is underpinned by an inductive framework: this is…
This paper presents two new control approaches for guaranteed safety (remaining in a safe set) subject to actuator constraints (the control is in a convex polytope). The control signals are computed using real-time optimization, including…
Barrier functions (also called certificates) have been an important tool for the verification of hybrid systems, and have also played important roles in optimization and multi-objective control. The extension of a barrier function to a…
This paper presents a new control approach for guaranteed safety (remaining in a safe set) subject to actuator constraints (the control is in a convex polytope). The control signals are computed using real-time optimization, including…