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Control barrier functions (CBFs) have seen widespread success in providing forward invariance and safety guarantees for dynamical control systems. A crucial limitation of discrete-time formulations is that CBFs that are nonconcave in their…
We propose a hybrid feedback control law that guarantees both safety and asymptotic stability for a class of Lagrangian systems in environments with obstacles. Rather than performing trajectory planning and implementing a…
This paper studies the design of controllers that guarantee stability and safety of nonlinear control affine systems with parametric uncertainty in both the drift and control vector fields. To this end, we introduce novel classes of robust…
In applications such as autonomous landing and navigation, it is often desirable to steer toward a target while retaining the ability to divert to at least $r$ (out of $p$) alternative sites if conditions change. In this work, we formalize…
This article provides a characterization of stability for switched nonlinear systems under average dwell-time constraints, in terms of necessary and sufficient conditions involving multiple Lyapunov functions. Earlier converse results focus…
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…
Safe real-time control of robotic manipulators in unstructured environments requires handling numerous safety constraints without compromising task performance. Traditional approaches, such as artificial potential fields (APFs), suffer from…
Control barrier functions are a popular method of ensuring system safety, and these functions can be used to enforce invariance of a set under the dynamics of a system. A control barrier function must have certain properties, and one must…
In this paper, tools to study forward invariance properties with robustness to dis- turbances, referred to as robust forward invariance, are proposed for hybrid dynamical systems modeled as hybrid inclusions. Hybrid inclusions are given in…
We introduce new sufficient conditions for verifying stability and recurrence properties in singularly perturbed stochastic hybrid dynamical systems. Specifically, we focus on hybrid systems with deterministic continuous-time dynamics that…
We study sufficient conditions for stability and recurrence in a class of singularly perturbed stochastic hybrid dynamical systems. The systems considered combine multi-time-scale deterministic continuous-time dynamics, modeled by…
Control barrier functions have shown great success in addressing control problems with safety guarantees. These methods usually find the next safe control input by solving an online quadratic programming problem. However, model uncertainty…
We present a real-time safety filter for motion planning, including those that are learning-based, using Control Barrier Functions (CBFs) to provide formal guarantees for collision avoidance with road boundaries. A key feature of our…
In safety-critical control, managing safety constraints with high relative degrees and uncertain obstacle dynamics pose significant challenges in guaranteeing safety performance. Robust Control Barrier Functions (RCBFs) offer a potential…
Biological and psychological concepts have inspired reinforcement learning algorithms to create new complex behaviors that expand agents' capacity. These behaviors can be seen in the rise of techniques like goal decomposition, curriculum,…
Safety-critical applications require controllers/policies that can guarantee safety with high confidence. The control barrier function is a useful tool to guarantee safety if we have access to the ground-truth system dynamics. In practice,…
The problem of domain aiming control is formulated for controlled stochastic nonlinear systems. This issue involves regularity of the solution to the resulting closed-loop stochastic system. To begin with, an extended existence and…
Predefined-time stability enables convergence within a user-specified time independent of initial conditions. Existing results are predominantly based on autonomous Lyapunov inequalities, where the predefined-time is realized through…
This paper examines the problem of achieving "grace" when controlling dynamical systems for safety, which is defined in terms of providing multi-layered safety assurances. Namely, two safety layers are created: a primary layer that…
We propose an extension of the theory of control sets to the case of inputs satisfying a dwell-time constraint. Although the class of such inputs is not closed under concatenation, we propose a suitably modified definition of control sets…