相关论文: Optimal Control Barrier Functions: Maximizing the …
Control Barrier Functions (CBFs) provide an elegant framework for constraining nonlinear control system dynamics to remain within an invariant subset of a designated safe set. However, identifying a CBF that balances performance-by…
Control barrier functions guarantee safety but typically require accurate system models. Parametric uncertainty invalidates these guarantees. Existing robust methods maintain safety via worst-case bounds, limiting performance, while modular…
The control barrier function (CBF) has become a fundamental tool in safety-critical systems design since its invention. Typically, the quadratic optimization framework is employed to accommodate CBFs, control Lyapunov functions (CLFs),…
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…
Safe navigation of autonomous robots remains one of the core challenges in the field, especially in dynamic and uncertain environments. One of the prevalent approaches is safety filtering based on control barrier functions (CBFs), which are…
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…
In order to be effective partners for humans, robots must become increasingly comfortable with making contact with their environment. Unfortunately, it is hard for robots to distinguish between ``just enough'' and ``too much'' force: some…
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) offer a powerful tool for enforcing safety specifications in control synthesis. This paper deals with the problem of constructing valid CBFs. Given a second-order system and any desired safety set with…
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 functions (CBFs) provide an effective framework for enforcing safety in dynamical systems with scalar constraints. However, many safety constraints are more naturally expressed as matrix-valued conditions, such as positive…
Safety is one of the fundamental problems in robotics. Recently, a quadratic program-based control barrier function (CBF) method has emerged as a way to enforce safety-critical constraints. Together with control Lyapunov function (CLF), it…
Enforcing multiple constraints based on the concept of control barrier functions (CBFs) is a remaining challenge because each of the CBFs requires a condition on the control inputs to be satisfied which may easily lead to infeasibility…
We present a real-time safety filter for motion planning, including those that are learning-based, using Control Barrier Functions (CBFs) to provide formal guarantees for collision avoidance with road boundaries. A key feature of our…
Ensuring the safety of dynamical systems is crucial, where collision avoidance is a primary concern. Recently, control barrier functions (CBFs) have emerged as an effective method to integrate safety constraints into control synthesis…
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…
Safety critical systems involve the tight coupling between potentially conflicting control objectives and safety constraints. As a means of creating a formal framework for controlling systems of this form, and with a view toward automotive…
Time delays in feedback control loops can cause controllers to respond too late, and with excessively large corrective actions, leading to unsafe behavior (violation of state constraints) and controller infeasibility (violation of input…
Control barrier functions (CBFs) and safety-critical control have seen a rapid increase in popularity in recent years, predominantly applied to systems in aerospace, robotics and neural network controllers. Control barrier functions can…
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…