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

Deploying deep reinforcement learning in safety-critical settings requires developing algorithms that obey hard constraints during exploration. This paper contributes a first approach toward enforcing formal safety constraints on end-to-end…

This paper proposes a consensus controller for multi-agent systems that can guarantee the agents' safety. The controller, built with the idea of output prediction and the Newton-Raphson method, achieves consensus for a class of…

With the increasing emphasis on the safe autonomy for robots, model-based safe control approaches such as Control Barrier Functions have been extensively studied to ensure guaranteed safety during inter-robot interactions. In this paper, we…

Autonomous systems have witnessed a rapid increase in their capabilities, but it remains a challenge for them to perform tasks both effectively and safely. The fact that performance and safety can sometimes be competing objectives renders…

Barrier functions (also called certificates) have been an important tool for the verification of hybrid systems, and have also played important roles in optimization and multi-objective control. The extension of a barrier function to a…

Control Barrier Functions (CBFs) provide a powerful framework for ensuring safety in dynamical systems. However, their application typically relies on full state information, which is often violated in real-world due to the availability of…

This paper considers the problem of designing a continuous-time dynamical system that solves a constrained nonlinear optimization problem and makes the feasible set forward invariant and asymptotically stable. The invariance of the feasible…

Safety in dynamic systems with prevalent uncertainties is crucial. Current robust safe controllers, designed primarily for uni-modal uncertainties, may be either overly conservative or unsafe when handling multi-modal uncertainties. To…

This paper presents a safe learning-based eco-driving framework tailored for mixed traffic flows, which aims to optimize energy efficiency while guaranteeing safety during real-system operations. Even though reinforcement learning (RL) is…

Safe multi-agent coordination in uncertain environments can benefit from learning constraints from other agents. Implicitly communicating safety constraints through actions is a promising approach, allowing agents to coordinate and maintain…

In many safety-critical control systems, possibly opposing safety restrictions and control performance objectives arise. To confront such a conflict, this letter proposes a novel methodology that embeds safety into stability of control…

In the realm of autonomous agents, ensuring safety and reliability in complex and dynamic environments remains a paramount challenge. Safe reinforcement learning addresses these concerns by introducing safety constraints, but still faces…

In this paper, we propose a supervisory control scheme that unifies the abilities of safety protection and safety extension. It produces a control that is able to keep the system safe indefinitely when such a control exists. When such a…

Introduction of renewable generation leads to significant reduction of inertia in power system, which deteriorates the quality of frequency control. This paper suggests a new control scheme utilizing controllable load to deal with low…

This paper presents a novel approach for safe control synthesis using the dual formulation of the navigation problem. The main contribution of this paper is in the analytical construction of density functions for almost everywhere…

Multi-objective safety-critical control entails a diligent design to avoid possibly conflicting scenarios and ensure safety. This paper addresses multi-objective safety-critical control through a novel approach utilizing barrier states…

We provide a novel approach to synthesize controllers for nonlinear continuous dynamical systems with control against safety properties. The controllers are based on neural networks (NNs). To certify the safety property we utilize barrier…

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…

This work proposes a hybrid framework for car-like robots with obstacle avoidance, global convergence, and safety, where safety is interpreted as path invariance, namely, once the robot converges to the path, it never leaves the path. Given…

We present a shared control paradigm that improves a user's ability to operate complex, dynamic systems in potentially dangerous environments without a priori knowledge of the user's objective. In this paradigm, the role of the autonomous…