相关论文: Comparison between safety methods control barrier …

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…

Safe autonomy is important in many application domains, especially for applications involving interactions with humans. Existing safe control algorithms are similar to one another in the sense that: they all provide control inputs to…

Numerical models and computer-aided modeling software are tools commonly used to assess the accessibility of an environment, based on static human body dimensions. In this paper, the limits of validity of these approaches are assessed by…

In this work, we perform safety analysis of linear dynamical systems with uncertainties. Instead of computing a conservative overapproximation of the reachable set, our approach involves computing a statistical approximate reachable set. As…

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…

The kinematic approximation of Dubin's Vehicle has been largely exploited in the formulation of various motion planning methods. In the majority of these methods, planning and control phases are decoupled, and the burden of rejecting…

Control barrier function (CBF)-based methods provide the minimum modification necessary to formally guarantee safety in the context of quadratic programming, and strict safety guarantee for safety critical systems. However, most CBF-related…

Accurate quantification of safety is essential for the design of autonomous systems. In this paper, we present a methodology to characterize the exact probabilities associated with invariance and recovery in safe control. We consider a…

Tractable safety-ensuring algorithms for cyber-physical systems are important in critical applications. Approaches based on Control Barrier Functions assume continuous enforcement, which is not possible in an online fashion. This paper…

This study proposes a new approach to assessing urban accessibility using the competitive equilibrium method, an adaptation of the balancing cost method that incorporates competition among users into dual accessibility metrics. The need for…

In this paper we consider multi-agent navigation with collision avoidance using Control Barrier Functions (CBF). In the case of non-communicating agents, we consider trade-offs between level of safety guarantee and liveness - the ability to…

This paper presents a novel approach for the safe control design of systems with parametric uncertainties in both drift terms and control-input matrices. The method combines control barrier functions and adaptive laws to generate a safe…

Providing safety guarantees for stochastic dynamical systems is a central problem in various fields, including control theory, machine learning, and robotics. Existing methods either employ Stochastic Barrier Functions (SBFs) or rely on…

In this paper, we consider the problem of verifying safety constraint satisfaction for single-input single-output systems with uncertain transfer function coefficients. We propose a new type of barrier function based on a vector norm. This…

This paper takes a step towards addressing the difficulty of constructing Control Barrier Functions (CBFs) for parallel safety boundaries. A single CBF for both boundaries has been reported to be difficult to validate for safety, and we…

Safe value functions, such as control barrier functions, characterize a safe set and synthesize a safety filter, overriding unsafe actions, for a dynamic system. While function approximators like neural networks can synthesize approximately…

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…

This paper establishes the equivalence between robust safety and the existence of a barrier function certificate for differential inclusions. More precisely, for a robustly-safe differential inclusion, a barrier function is constructed as…

Racing demands each vehicle to drive at its physical limits, when any safety infraction could lead to catastrophic failure. In this work, we study the problem of safe reinforcement learning (RL) for autonomous racing, using the vehicle's…

Control barrier functions for port-Hamiltonian systems inherit model uncertainty when the Hamiltonian is learned from data. We show how to propagate this uncertainty into a safety filter with independently tunable credibility budgets. To…