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Obstacle avoidance is central to safe navigation, especially for robots with arbitrary and nonconvex geometries operating in cluttered environments. Existing Control Barrier Function (CBF) approaches often rely on analytic clearance…
In this draft article, we consider the problem of achieving safe control of a dynamic system for which the safety index or (control barrier function (loosely)) has relative degree equal to two. We consider parameter affine nonlinear dynamic…
Control barrier functions (CBFs) are a popular tool for safety certification of nonlinear dynamical control systems. Recently, CBFs represented as neural networks have shown great promise due to their expressiveness and applicability to a…
Control barrier functions (CBFs) provide an effective framework for enforcing safety in dynamical systems with scalar constraints. However, many safety constraints are more naturally expressed as matrix-valued conditions, such as positive…
Control barrier function (CBF)-QP safety filters enforce safety by minimally modifying a nominal controller. While prior work has mainly addressed robustness of safety under uncertainty, robustness of the resulting closed-loop…
Control barrier function (CBF) has recently started to serve as a basis to develop approaches for enforcing safety requirements in control systems. However, constructing such function for a general system is a non-trivial task. This paper…
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 tutorial provides a critical review of the practical application of Control Barrier Functions (CBFs) in robotic safety. While the theoretical foundations of CBFs are well-established, I identify a recurring gap between the mathematical…
Safety is of paramount importance in control systems to avoid costly risks and catastrophic damages. The control barrier function (CBF) method, a promising solution for safety-critical control, poses a new challenge of enhancing control…
This paper addresses the problem of safety-critical control for non-affine control systems. It has been shown that optimizing quadratic costs subject to state and control constraints can be sub-optimally reduced to a sequence of quadratic…
We propose new methods to synthesize control barrier function (CBF)-based safe controllers that avoid input saturation, which can cause safety violations. In particular, our method is created for high-dimensional, general nonlinear systems,…
In the field of control engineering, the connection between Signal Temporal Logic (STL) and time-varying Control Barrier Functions (CBF) has attracted considerable attention. CBFs have demonstrated notable success in ensuring the safety of…
Safety is a central requirement for autonomous system operation across domains. Hamilton-Jacobi (HJ) reachability analysis can be used to construct "least-restrictive" safety filters that result in infrequent, but often extreme, control…
In this paper, we study Stochastic Control Barrier Functions (SCBFs) to enable the design of probabilistic safe real-time controllers in presence of uncertainties and based on noisy measurements. Our goal is to design controllers that bound…
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),…
In a complex real-time operating environment, external disturbances and uncertainties adversely affect the safety, stability, and performance of dynamical systems. This paper presents a robust stabilizing safety-critical controller…
Ensuring liveness and safety of autonomous and cyber-physical systems remains a fundamental challenge, particularly when multiple safety constraints are present. This letter advances the theoretical foundations of safety-filter Quadratic…
Control barrier functions (CBFs) are a powerful tool for the constrained control of nonlinear systems; however, the majority of results in the literature focus on systems subject to a single CBF constraint, making it challenging to…
Control barrier functions (CBFs) provide a principled framework for enforcing safety in control systems -- yet the certified safe operating region in practice is often conservative, especially under input bounds. In many applications,…
In this paper, we define and analyze a subclass of (time-invariant) Control Barrier Functions (CBF) that have favorable properties for the construction of uniformly timevarying CBFs and thereby for the satisfaction of uniformly time-varying…