Related papers: Safety for Weakly-Hard Control Systems via Graph-B…

Safety-critical control tasks with high levels of uncertainty are becoming increasingly common. Typically, techniques that guarantee safety during learning and control utilize constraint-based safety certificates, which can be leveraged to…

Ensuring constraint satisfaction is a key requirement for safety-critical systems, which include most robotic platforms. For example, constraints can be used for modeling joint position/velocity/torque limits and collision avoidance.…

This paper studies the problem of finite-time convergence to a prescribed safe set for nonlinear systems whose initial states violate the safety constraints. Existing Control Lyapunov-Barrier Functions (CLBFs) can enforce recovery to the…

The need for robust control laws is especially important in safety-critical applications. We propose robust hybrid control barrier functions as a means to synthesize control laws that ensure robust safety. Based on this notion, we formulate…

The decision logic for the ACAS X family of aircraft collision avoidance systems is represented as a large numeric table. Due to storage constraints of certified avionics hardware, neural networks have been suggested as a way to…

Many control applications require that a system be constrained to a particular set of states, often termed as safe set. A practical and flexible method for rendering safe sets forward-invariant involves computing control input using Control…

In this paper, we consider the problem of synthesizing a controller in the presence of uncertainty such that the resulting closed-loop system satisfies certain hard constraints while optimizing certain (soft) performance objectives. We…

The rapid integration of AI algorithms in safety-critical applications such as autonomous driving and healthcare is raising significant concerns about the ability to meet stringent safety standards. Traditional tools for formal safety…

Classically, a control loop is designed to be executed strictly periodically. This is, however, difficult to achieve in many scenarios, for example, when overload or packet loss cannot be entirely avoided. Here, weakly-hard real-time…

Flow-based generative models, such as diffusion models and flow matching models, have achieved remarkable success in learning complex data distributions. However, a critical gap remains for their deployment in safety-critical domains: the…

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…

This paper considers the problem of maintaining global connectivity of a multi-robot system while executing a desired coordination task. Our approach builds on optimization-based feedback design formulations, where the nominal cost function…

Neural networks serve as effective controllers in a variety of complex settings due to their ability to represent expressive policies. The complex nature of neural networks, however, makes their output difficult to verify and predict, which…

An important class of cyber-physical systems relies on multiple agents that jointly perform a task by coordinating their actions over a wireless network. Examples include self-driving cars in intelligent transportation and production robots…

Recently, there has been a surge of research on a class of methods called feedback optimization. These are methods to steer the state of a control system to an equilibrium that arises as the solution of an optimization problem. Despite the…

A common assumption on the deployment of safeguarding controllers on the digital platform is that high sampling frequency translates to a small violation of safety. This paper investigates and formalizes this assumption through the lens of…

We consider the problem of guaranteeing that the transient voltages and currents stay within prescribed bounds in Direct Current (DC) microgrids, when the controller does not have access to accurate system dynamics due to the load being…

This paper is concerned with path-complete barrier functions which offer a graph-based methodology for verifying safety properties in switched systems. The path-complete framework leverages algebraic (barrier functions) as well as…

Networked control systems (NCS) are widely used in safety-critical applications, but they are often analyzed under the assumption of ideal communication channels. This work focuses on the synthesis of safety controllers for discrete-time…

Control barrier certificates have proven effective in formally guaranteeing the safety of the control systems. However, designing a control barrier certificate is a time-consuming and computationally expensive endeavor that requires expert…