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Control barrier functions have been widely used for synthesizing safety-critical controls, often via solving quadratic programs. However, the existence of Gaussian-type noise may lead to unsafe actions and result in severe consequences. In…
This paper presents a methodology for ensuring that the composition of multiple Control Barrier Functions (CBFs) always leads to feasible conditions on the control input, even in the presence of input constraints. In the case of a system…
In this paper, we study a safe control design for dynamical systems in the presence of uncertainty in a dynamical environment. The worst-case error approach is considered to formulate robust Control Barrier Functions (CBFs) in an…
Control Barrier Functions (CBFs) are becoming popular tools in guaranteeing safety for nonlinear systems and constraints, and they can reduce a constrained optimal control problem into a sequence of Quadratic Programs (QPs) for affine…
We propose a hybrid feedback control law that guarantees both safety and asymptotic stability for a class of Lagrangian systems in environments with obstacles. Rather than performing trajectory planning and implementing a…
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.…
Physical human-robot interaction offers the potential to leverage human intelligence and robot physical capabilities to enable a range of exciting applications, e.g., collaborative robots for rehabilitation. Safety is critical for the…
This work presents a theoretical framework for the safety-critical control of time delay systems. The theory of control barrier functions, that provides formal safety guarantees for delay-free systems, is extended to systems with state…
This paper focuses on safety critical control with sector-bounded uncertainties at the plant input. The uncertainties can represent nonlinear and/or time-varying components. We propose a new robust control barrier function (RCBF) approach…
In this paper, we propose a novel approach to synthesize linear feedback controllers for navigating in polygonal environments using noisy measurements and a convex cell decomposition. Our method is based on formulating chance constraints…
Control Barrier Functions (CBFs) have emerged as a powerful paradigm in control theory, providing a principled approach to enforcing safety-critical constraints in dynamic systems. This survey paper comprehensively explores the foundational…
Control barrier functions (CBFs) have emerged as a popular topic in safety critical control due to their ability to provide formal safety guarantees for dynamical systems. Despite their powerful capabilities, the determination of feasible…
Control barrier functions (CBFs) provide a powerful tool for enforcing safety constraints in control systems, but their direct application to complex, high-dimensional dynamics is often challenging. In many settings, safety certificates are…
The problem of control based on vision measurements (bearings) has been amply studied in the literature; however, the problem of addressing the limits of the field of view of physical sensors has received relatively less attention…
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…
This paper presents a framework for designing provably safe feedback controllers for sampled-data control affine systems with measurement and actuation uncertainties. Based on the interval Taylor model of nonlinear functions, a sampled-data…
Safe control for inherently unstable systems such as quadrotors is crucial. Imposing multiple dynamic constraints simultaneously on the states for safety regulation can be a challenging problem. In this paper, we propose a quadratic…
This paper presents an approach to deal with safety of dynamical systems in presence of multiple non-convex unsafe sets. While optimal control and model predictive control strategies can be employed in these scenarios, they suffer from high…
Quadratic programs (QP) subject to multiple time-dependent control barrier function (CBF) based constraints have been used to design safety-critical controllers. However, ensuring the existence of a solution at all times to the QP subject…
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…