相关论文: A Control Barrier Perspective on Episodic Learning…

This paper considers the general problem of transitioning theoretically safe controllers to hardware. Concretely, we explore the application of control barrier functions (CBFs) to sampled-data systems: systems that evolve continuously but…

Control Barrier Functions (CBFs) have been used to enforce safety and task specifications expressed in Signal Temporal Logic (STL). However, existing CBF-STL approaches typically rely on fixed hyperparameters and per-step optimization,…

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…

Reinforcement learning (RL) can improve control performance by seeking to learn optimal control policies in the end-use environment for vehicles and other systems. To accomplish this, RL algorithms need to sufficiently explore the state and…

Control barrier functions (CBFs) provide a theoretical foundation for safety-critical control in robotic systems. However, most existing methods rely on explicit analytical expressions of unsafe state regions, which are often impractical…

In this paper, we show that under mild controllability assumptions a time-invariant Control Barrier Function (CBF) can be constructed based on predictions with a finite horizon. As a starting point, we require only a known subset of a…

Control Barrier Functions (CBFs) have emerged as a prominent approach to designing safe navigation systems of robots. Despite their popularity, current CBF-based methods exhibit some limitations: optimization-based safe control techniques…

In this paper, we establish a connection between model predictive control (MPC) techniques and Control Barrier Functions (CBFs). Recognizing the similarity between CBFs and Control Lyapunov Functions (CLFs), we propose a MPC formulation…

This paper studies the efficient implementation of safety filters that are designed using control barrier functions (CBFs), which minimally modify a nominal controller to render it safe with respect to a prescribed set of states. Although…

In this paper, we study the relationship between systems controlled via Control Barrier Function (CBF) approaches and a class of discontinuous dynamical systems, called Projected Dynamical Systems (PDSs). In particular, under appropriate…

In this paper, the safety-critical control problem for uncertain systems under multiple control barrier function (CBF) constraints and input constraints is investigated. A novel framework is proposed to generate a safety filter that…

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.…

Uncertainties arising in various control systems, such as robots that are subject to unknown disturbances or environmental variations, pose significant challenges for ensuring system safety, such as collision avoidance. At the same time,…

Control barrier function (CBF)-based safety filters provide a systematic way to enforce state constraints, but they can significantly alter the closed-loop dynamics induced by a nominal, stabilizing controller. In particular, the resulting…

Robust control barrier functions (CBFs) provide a principled mechanism for smooth safety enforcement under worst-case disturbances. However, existing approaches typically rely on explicit, closed-form structure in the dynamics (e.g.,…

Reinforcement learning is a powerful technique for developing new robot behaviors. However, typical lack of safety guarantees constitutes a hurdle for its practical application on real robots. To address this issue, safe reinforcement…

Safety assurance is critical in the planning and control of robotic systems. For robots operating in the real world, the safety-critical design often needs to explicitly address uncertainties and the pre-computed guarantees often rely on…

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…

Safety is one of the fundamental problems in robotics. Recently, a quadratic program-based control barrier function (CBF) method has emerged as a way to enforce safety-critical constraints. Together with control Lyapunov function (CLF), it…

Adaptive control provides closed-loop stability and reference tracking for uncertain dynamical systems through online parameter adaptation. These properties alone, however, do not ensure safety in the sense of forward invariance of state…