相关论文: Safe Control Algorithms Using Energy Functions: A …

This paper presents an approach to deal with safety of dynamical systems in presence of multiple non-convex unsafe sets. While optimal control and model predictive control strategies can be employed in these scenarios, they suffer from high…

Prior work has looked at applying reinforcement learning and imitation learning approaches to autonomous driving scenarios, but either the safety or the efficiency of the algorithm is compromised. With the use of control barrier functions…

This work presents a theoretical framework for the safety-critical control of time delay systems. The theory of control barrier functions, that provides formal safety guarantees for delay-free systems, is extended to systems with state…

This paper introduces a new formulation for stochastic optimal control and stochastic dynamic optimization that ensures safety with respect to state and control constraints. The proposed methodology brings together concepts such as…

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…

Safety is the major consideration in controlling complex dynamical systems using reinforcement learning (RL), where the safety certificate can provide provable safety guarantee. A valid safety certificate is an energy function indicating…

Safety-critical control is characterized as ensuring constraint satisfaction for a given dynamical system. Recent developments in zeroing control barrier functions (ZCBFs) have provided a framework for ensuring safety of a superlevel set of…

This paper presents a new approach for guaranteed safety subject to input constraints (e.g., actuator limits) using a composition of multiple control barrier functions (CBFs). First, we present a method for constructing a single CBF from…

Control Barrier Functions (CBFs) have become a popular tool for enforcing set invariance in safety-critical control systems. While guaranteeing safety, most CBF approaches are myopic in the sense that they solve an optimization problem at…

Runtime energy management has become quintessential for multi-sensor autonomous systems at the edge for achieving high performance given the platform constraints. Typical for such systems, however, is to have their controllers designed with…

We study stochastic systems characterized by difference inclusions. Such stochastic differential inclusions are defined by set-valued maps involving the current state and stochastic input. For such systems, we investigate the problem of…

Control barrier functions are mathematical constructs used to guarantee safety for robotic systems. When integrated as constraints in a quadratic programming optimization problem, instantaneous control synthesis with real-time performance…

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…

This paper presents a new control approach for guaranteed safety (remaining in a safe set) subject to actuator constraints (the control is in a convex polytope). The control signals are computed using real-time optimization, including…

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…

Safety constraints and optimality are important, but sometimes conflicting criteria for controllers. Although these criteria are often solved separately with different tools to maintain formal guarantees, it is also common practice in…

Guaranteeing safe behaviour of reinforcement learning (RL) policies poses significant challenges for safety-critical applications, despite RL's generality and scalability. To address this, we propose a new approach to apply verification…

This paper deals with analysis, simultaneous detection of faults and attacks, fault-tolerant control and attack-resilient of cyber-physical control systems. In our recent work, it has been observed that an attack detector driven by an input…

Safe control with guarantees generally requires the system model to be known. It is far more challenging to handle systems with uncertain parameters. In this paper, we propose a generic algorithm that can synthesize and verify safe…

We consider the problem of adaptive control of a class of feedback linearizable plants with matched parametric uncertainties whose states are accessible, subject to state constraints, which often arise due to safety considerations. In this…