Related papers: Composite Adaptive Control Barrier Functions for S…
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…
In this paper, we propose a safety-critical controller based on time-varying control barrier functions (CBFs) for a robot with an unicycle model in the continuous-time domain to achieve navigation and dynamic collision avoidance. Unlike…
In this paper, we present a novel probabilistic safe control framework for human-robot interaction that combines control barrier functions (CBFs) with conformal risk control to provide formal safety guarantees while considering complex…
Implementing obstacle avoidance in dynamic environments is a challenging problem for robots. Model predictive control (MPC) is a popular strategy for dealing with this type of problem, and recent work mainly uses control barrier function…
In safety-critical control systems, ensuring both safety and feasibility under sampled-data implementations is crucial for practical deployment. Existing Control Barrier Function (CBF) frameworks, such as High-Order CBFs (HOCBFs),…
Safety filters leveraging control barrier functions (CBFs) are highly effective for enforcing safe behavior on complex systems. It is often easier to synthesize CBFs for a Reduced order Model (RoM), and track the resulting safe behavior on…
Control Barrier Functions (CBFs) enforce safety by rendering a prescribed safe set forward invariant. However, standard CBFs are limited to safety constraints with relative degree one, while High-Order CBF (HOCBF) methods address higher…
Control Lyapunov Functions (CLFs) and Control Barrier Functions (CBFs) can be combined, typically by means of Quadratic Programs (QPs), to design controllers that achieve performance and safety objectives. However, a significant limitation…
This paper considers the safety-critical control design problem with output measurements. An observer-based safety control framework that integrates the estimation error quantified observer and the control barrier function (CBF) approach is…
Uncertainties arising in various control systems, such as robots that are subject to unknown disturbances or environmental variations, pose significant challenges for ensuring system safety, such as collision avoidance. At the same time,…
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…
This paper extends control barrier functions (CBFs) to high order control barrier functions (HOCBFs) that can be used for high relative degree constraints. The proposed HOCBFs are more general than recently proposed (exponential) HOCBFs. We…
This paper investigates the problem of composing multiple control barrier functions (CBFs) -- and matrix control barrier functions (MCBFs) -- through logical and combinatorial operations. Standard CBF formulations naturally enable…
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…
The increasing complexity of control systems necessitates control laws that guarantee safety w.r.t. complex combinations of constraints. In this letter, we propose a framework to describe compositional safety specifications with control…
Control Barrier Functions (CBFs) have been demonstrated to be a powerful tool for safety-critical controller design for nonlinear systems. Existing design paradigms do not address the gap between theory (controller design with continuous…
The control barrier function (CBF) has become a fundamental tool in safety-critical systems design since its invention. Typically, the quadratic optimization framework is employed to accommodate CBFs, control Lyapunov functions (CLFs),…
This work introduces a novel Proxy Control Barrier Function (PCBF) scheme that integrates barrier-based and Lyapunov-based safety-critical control strategies for strict-feedback systems with potentially unknown dynamics. The proposed method…
Control barrier functions (CBFs) offer a powerful tool for enforcing safety specifications in control synthesis. This paper deals with the problem of constructing valid CBFs. Given a second-order system and any desired safety set with…
Uncertainty-aware controllers that guarantee safety are critical for safety critical applications. Among such controllers, Control Barrier Functions (CBFs) based approaches are popular because they are fast, yet safe. However, most such…