Related papers: Finite-time Convergent Control Barrier Functions w…
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…
Fixed-wing UAVs have transformed the transportation system with their high flight speed and long endurance, yet their safe operation in increasingly cluttered environments depends heavily on effective collision avoidance techniques. This…
Control barrier functions (CBFs) play a critical role in the design of safe optimization-based controllers for control-affine systems. Given a CBF associated with a desired ``safe'' set, the typical approach consists in embedding CBF-based…
Control barrier functions (CBFs) are widely used in safety-critical controllers. However, constructing a valid CBF is challenging, especially under nonlinear or non-convex constraints and for high relative degree systems. Meanwhile, finding…
We consider the problem of designing controllers to guarantee safety in a class of nonlinear systems under uncertainties in the system dynamics and/or the environment. We define a class of uncertain control barrier functions (CBFs), and…
Optimal stabilization of safety-critical nonlinear systems requires balancing long-term performance and strict safety constraints. Existing quadratic-programming-based control barrier function (CBF) safety filters are point-wise and may…
This paper addresses the target-pursuit problem, aiming to ensure each pursuer's safety regarding collision avoidance, sensing range, and input saturation. An input-constrained CBF is proposed to dynamically regulate the pursuer's control,…
This contribution introduces a centralized input constrained optimal control framework based on multiple control barrier functions (CBFs) to coordinate connected and automated agents at intersections. For collision avoidance, we propose a…
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…
Constructing a control invariant set with an appropriate shape that fits within a given state constraint is a fundamental problem in safety-critical control but is known to be difficult, especially for large or complex spaces. This paper…
Safety is one of the most important properties of control systems. Sensor faults and attacks and actuator failures may cause errors in the sensor measurements and system dynamics, which leads to erroneous control inputs and hence safety…
This paper presents a method for control synthesis under spatio-temporal constraints. First, we consider the problem of reaching a set $S$ in a user-defined or prescribed time $T$. We define a new class of control Lyapunov functions, called…
This paper investigates the design of a subclass of time-varying Control Barrier Functions (CBFs), specifically that of uniformly time-varying CBFs. Leveraging the fact that CBFs encode a system's dynamic capabilities relative to a state…
This paper presents an approach to design control barrier functions (CBFs) for arbitrary state and input constraints using tools from the reference governor literature. In particular, it is shown that dynamic safety margins (DSMs) are CBFs…
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…
Ensuring safety for autonomous systems under uncertainty remains challenging, particularly when safety of the true state is required despite the true state not being fully known. Control barrier functions (CBFs) have become widely adopted…
This paper presents converse theorems for safety in terms of barrier functions for unconstrained continuous-time systems modeled as differential inclusions. Via a counterexample, we show the lack of existence of autonomous and continuous…
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…
Control Barrier Functions (CBFs) have proven to be an effective tool for performing safe control synthesis for nonlinear systems. However, guaranteeing safety in the presence of disturbances and input constraints for high relative degree…
We study the prescribed-time reach-avoid (PT-RA) control problem for nonlinear systems with unknown dynamics operating in environments with moving obstacles. Unlike robust or learning based Control Barrier Function (CBF) methods, the…