Related papers: Safe Control of Feedback-Interconnected Systems vi…
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…
Construction automation increasingly requires autonomous mobile robots, yet robust autonomy remains challenging on construction sites. These environments are dynamic and often visually occluded, which complicates perception and navigation.…
This paper focuses on safety filters designed based on Control Barrier Functions (CBFs): these are modifications of a nominal stabilizing controller typically utilized in safety-critical control applications to render a given subset of…
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…
In this paper, we study a safe control design for dynamical systems in the presence of uncertainty in a dynamical environment. The worst-case error approach is considered to formulate robust Control Barrier Functions (CBFs) in an…
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…
Control Barrier Functions (CBF) have been recently utilized in the design of provably safe feedback control laws for nonlinear systems. These feedback control methods typically compute the next control input by solving an online Quadratic…
This paper presents a time-varying soft-maximum composite control barrier function (CBF) that can be used to ensure safety in an a priori unknown environment, where local perception information regarding the safe set is periodically…
Control Barrier Functions (CBFs) are a practical approach for designing safety-critical controllers, but constructing them for arbitrary nonlinear dynamical systems remains a challenge. Recent efforts have explored learning-based methods,…
We present a closed-form optimal feedback control method that ensures safety in an a prior unknown and potentially dynamic environment. This article considers the scenario where local perception data (e.g., LiDAR) is obtained periodically,…
Complex control systems are often described in a layered fashion, represented as higher-order systems where the inputs appear after a chain of integrators. While Control Barrier Functions (CBFs) have proven to be powerful tools for…
This paper presents a framework for designing provably safe feedback controllers for sampled-data control affine systems with measurement and actuation uncertainties. Based on the interval Taylor model of nonlinear functions, a sampled-data…
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…
Safety filters based on Control Barrier Functions (CBFs) have emerged as a practical tool for the safety-critical control of autonomous systems. These approaches encode safety through a value function and enforce safety by imposing a…
The increasing complexity of modern robotic systems and the environments they operate in necessitates the formal consideration of safety in the presence of imperfect measurements. In this paper we propose a rigorous framework for…
Safety is a critical property for control systems in medicine, transportation, manufacturing, and other applications, and can be defined as ensuring positive invariance of a predefined safe set. This paper investigates the problems of…
Control barrier functions guarantee safety but typically require accurate system models. Parametric uncertainty invalidates these guarantees. Existing robust methods maintain safety via worst-case bounds, limiting performance, while modular…
Control barrier functions (CBFs) have been widely used for synthesizing controllers in safety-critical applications. When used as a safety filter, it provides a simple and computationally efficient way to obtain safe controls from a…
Control barrier functions (CBFs) have been demonstrated as an effective method for safety-critical control of autonomous systems. Although CBFs are simple to deploy, their design remains challenging, motivating the development of…
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…