相关论文: Composition of Control Barrier Functions With Diff…
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…
Control Lyapunov functions (CLFs) and control barrier functions (CBFs) are widely used tools for synthesizing controllers subject to stability and safety constraints. Paired with online optimization, they provide stabilizing control actions…
Control barrier functions (CBFs) offer an efficient framework for designing real-time safe controllers. However, CBF-based controllers can be short-sighted, resulting in poor performance, a behaviour which is aggravated in uncertain…
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 present a novel method for designing higher-order Control Barrier Functions (CBFs) that guarantee convergence to a safe set within a user-specified finite. Traditional Higher Order CBFs (HOCBFs) ensure asymptotic safety but lack…
This paper presents a formal framework for collision avoidance in multi-robot systems, wherein an existing controller is modified in a minimally invasive fashion to ensure safety. We build this framework through the use of control barrier…
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…
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…
We propose a unified framework to fast generate a safe optimal control action for a new task from existing controllers on Multi-Agent Systems (MASs). The control action composition is achieved by taking a weighted mixture of the existing…
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 studies the problem of finite-time convergence to a prescribed safe set for nonlinear systems whose initial states violate the safety constraints. Existing Control Lyapunov-Barrier Functions (CLBFs) can enforce recovery to the…
Control Barrier Functions (CBFs) can provide provable safety guarantees for dynamic systems. However, finding a valid CBF for a system of interest is often non-trivial, especially for systems having low computational resources, higher-order…
Control Barrier Function (CBF) is an emerging method that guarantees safety in path planning problems by generating a control command to ensure the forward invariance of a safety set. Most of the developments up to date assume availability…
In safety-critical control, managing safety constraints with high relative degrees and uncertain obstacle dynamics pose significant challenges in guaranteeing safety performance. Robust Control Barrier Functions (RCBFs) offer a potential…
Control barrier functions (CBFs) have seen widespread success in providing forward invariance and safety guarantees for dynamical control systems. A crucial limitation of discrete-time formulations is that CBFs that are nonconcave in their…
Modern nonlinear control theory seeks to endow systems with properties of stability and safety, and have been deployed successfully in multiple domains. Despite this success, model uncertainty remains a significant challenge in synthesizing…
Over the decades, kinematic controllers have proven to be practically useful for applications like set-point and trajectory tracking in robotic systems. To this end, we formulate a novel safety-critical paradigm for kinematic control in…
This paper addresses the problem of safety-critical control for non-affine control systems. It has been shown that optimizing quadratic costs subject to state and control constraints can be sub-optimally reduced to a sequence of quadratic…
Control Barrier Functions (CBFs) have become powerful tools for ensuring safety in nonlinear systems. However, finding valid CBFs that guarantee persistent safety and feasibility remains an open challenge, especially in systems with input…
This paper considers the safety-critical control design problem with output measurements. An observer-based safety control framework that integrates the estimation error quantified observer and the control barrier function (CBF) approach is…