相关论文: A Barrier Certificate-based Simplex Architecture f…

We present Bayesian Controller Fusion (BCF): a hybrid control strategy that combines the strengths of traditional hand-crafted controllers and model-free deep reinforcement learning (RL). BCF thrives in the robotics domain, where reliable…

Control Invariant (CI) sets are instrumental in certifying the safety of dynamical systems. Control Barrier Functions (CBFs) are effective tools to compute such sets, since the zero sublevel sets of CBFs are CI sets. However, computing CBFs…

This paper addresses the problem of guaranteeing safety of multiple coordinated agents moving in dynamic environments. It has recently been shown that this problem can be efficiently solved through the notion of Control Barrier Functions…

Barrier functions (BFs) characterize safe sets of dynamical systems, where hard constraints are never violated as the system evolves over time. Computing a valid safe set and BF for a nonlinear (and potentially unmodeled), non-autonomous…

We present a novel technique for online safety verification of autonomous systems, which performs reachability analysis efficiently for both bounded and unbounded horizons by employing neural barrier certificates. Our approach uses barrier…

Using control barrier functions (CBFs) as safety filters provides a computationally inexpensive yet effective method for constructing controllers in safety-critical applications. However, using CBFs requires the construction of a valid CBF,…

State and input constraints are ubiquitous in control system design. One recently developed tool to deal with these constraints is control barrier functions (CBF) which transform state constraints into conditions in the input space.…

In recent years, various techniques have been explored for the verification of quantum circuits, including the use of barrier certificates, mathematical tools capable of demonstrating the correctness of such systems. These certificates…

To effectively control complex dynamical systems, accurate nonlinear models are typically needed. However, these models are not always known. In this paper, we present a data-driven approach based on Gaussian processes that learns models of…

Maintaining safety under adaptation has long been considered to be an important capability for autonomous systems. As these systems estimate and change the ego-model of the system dynamics, questions regarding how to develop safety…

We present a tool-supported approach for the synthesis, verification and validation of the control software responsible for the safety of the human-robot interaction in manufacturing processes that use collaborative robots. In human-robot…

This paper proposes a safety-critical controller for dynamic and uncertain environments, leveraging a robust environment control barrier function (ECBF) to enhance the robustness against the measurement and prediction uncertainties…

Model mismatches prevail in real-world applications. Ensuring safety for systems with uncertain dynamic models is critical. However, existing robust safe controllers may not be realizable when control limits exist. And existing methods use…

Inspired by the success of imitation and inverse reinforcement learning in replicating expert behavior through optimal control, we propose a learning based approach to safe controller synthesis based on control barrier functions (CBFs). We…

In this paper, we explore the conditions for asymptotic stability of the hybrid closed-loop system resulting from the interconnection of a nonlinear plant, an intelligent sensor that generates finite-time convergent estimates of the plant…

This paper generalizes the control barrier function framework by replacing scalar-valued functions with matrix-valued ones. Specifically, we develop barrier conditions for safe sets defined by matrix inequalities -- both semidefinite and…

Ensuring the safety of control systems often requires the satisfaction of constraints on states (such as position or velocity), control inputs (such as force), and a mixture of states and inputs (such as power that depends on both velocity…

For the design and implementation of engineering systems, performing model-based analysis can disclose potential safety issues at an early stage. The analysis of hybrid system models is in general difficult due to the intrinsic complexity…

This work proposes an optimal safe controller minimizing an infinite horizon cost functional subject to control barrier functions (CBFs) safety conditions. The constrained optimal control problem is reformulated as a minimization problem of…

We consider the problem of designing finite-horizon safe controllers for a dynamical system for which no explicit analytical model exists and limited data only along a single trajectory of the system are available. Given samples of the…