相关论文: Verification and Synthesis of Control Barrier Func…

Finding a controlled-invariant set for a system with state and control constraints is crucial for safety-critical applications. However, existing methods often produce overly conservative solutions. This paper presents a method for…

This paper presents methodologies for constructing Control Barrier Functions (CBFs) for nonlinear, control-affine systems, in the presence of input constraints and bounded disturbances. More specifically, given a constraint function with…

Control barrier functions provide a powerful means for synthesizing safety filters that ensure safety framed as forward set invariance. Key to CBFs' effectiveness is the simple inequality on the system dynamics: $\dot{h} \geq - \alpha(h)$.…

This paper presents conditions for ensuring forward invariance of safe sets under sampled-data system dynamics with piecewise-constant controllers and fixed time-steps. First, we introduce two different metrics to compare the…

This letter addresses the constraint compatibility problem of control barrier functions (CBFs), which occurs when a safety-critical CBF requires a system to apply more control effort than it is capable of generating. This inevitably leads…

Providing safety guarantees for learning-based controllers is important for real-world applications. One approach to realizing safety for arbitrary control policies is safety filtering. If necessary, the filter modifies control inputs to…

Ensuring both performance and safety is critical for autonomous systems operating in real-world environments. While safety filters such as Control Barrier Functions (CBFs) enforce constraints by modifying nominal controllers in real time,…

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…

The backup control barrier function (CBF) was recently proposed as a tractable formulation that guarantees the feasibility of the CBF quadratic programming (QP) via an implicitly defined control invariant set. The control invariant set is…

This letter presents a closed-form solution of Control Barrier Function (CBF) framework for enforcing safety constraints on a Stewart robotic platform. The proposed method simultaneously handles multiple position and velocity constraints…

This paper proposes a control design approach for stabilizing nonlinear control systems. Our key observation is that the set of points where the decrease condition of a control Lyapunov function (CLF) is feasible can be regarded as a safe…

Applications that require multi-robot systems to operate independently for extended periods of time in unknown or unstructured environments face a broad set of challenges, such as hardware degradation, changing weather patterns, or…

In recent years, the analysis of a control barrier function has received considerable attention because it is helpful for the safety-critical control required in many control application problems. While the extension of the analysis to a…

While control barrier functions (CBFs) are employed in addressing safety, control synthesis methods based on them generally rely on accurate system dynamics. This is a critical limitation, since the dynamics of complex systems are often not…

This paper considers collision avoidance for vehicles with first-order nonholonomic constraints maintaining nonzero forward speeds, moving within dynamic environments. We leverage the concept of control barrier functions (CBFs) to…

Control barrier function (CBF)-QP safety filters enforce safety by minimally modifying a nominal controller. While prior work has mainly addressed robustness of safety under uncertainty, robustness of the resulting closed-loop…

This paper proposes a safety controller for control-affine nonlinear systems with unmodelled dynamics and disturbances to improve closed-loop robustness. Uncertainty estimation-based control barrier functions (CBFs) are utilized to ensure…

We propose control barrier functions (CBFs) for a family of dynamical systems to satisfy a broad fragment of Signal Temporal Logic (STL) specifications, which may include subtasks with nested temporal operators or conflicting requirements…

With the increasing need for safe control in the domain of autonomous driving, model-based safety-critical control approaches are widely used, especially Control Barrier Function (CBF)-based approaches. Among them, Exponential CBF (eCBF) is…

This letter studies the dynamical properties of safety filters designed based on Control Barrier Functions (CBF). This mechanism, which is popular in safety-critical applications, takes a nominal controller and minimally modifies it to…