相关论文: Survey Paper on Control Barrier Functions
Ensuring safe behavior is critical for modern autonomous cyber-physical systems. Control barrier functions (CBFs) are widely used to enforce safety in autonomous systems, yet their placement within networked control architectures remains…
This paper presents a methodology for constructing Control Barrier Functions (CBFs) that proactively consider the future safety of a system along a nominal trajectory, and effect corrective action before the trajectory leaves a designated…
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…
Control Barrier Functions (CBFs) have been demonstrated to be a powerful tool for safety-critical controller design for nonlinear systems. Existing design paradigms do not address the gap between theory (controller design with continuous…
With the increasing emphasis on the safe autonomy for robots, model-based safe control approaches such as Control Barrier Functions have been extensively studied to ensure guaranteed safety during inter-robot interactions. In this paper, we…
This contribution introduces a centralized input constrained optimal control framework based on multiple control barrier functions (CBFs) to coordinate connected and automated agents at intersections. For collision avoidance, we propose a…
This paper presents a safe controller synthesis of discrete-time stochastic systems using Control Barrier Functions (CBFs). The proposed condition allows the design of a safe controller synthesis that ensures system safety while avoiding…
Safety is a fundamental requirement for autonomous systems operating in critical domains. Control barrier functions (CBFs) have been used to design safety filters that minimally alter nominal controls for such systems to maintain their…
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 closed-form optimal control that satisfies both safety constraints (i.e., state constraints) and input constraints (e.g., actuator limits) using a composition of multiple control barrier functions (CBFs). This main contribution…
In this paper, we develop a novel adaptation-based approach to constrained control design under multiple state and input constraints. Specifically, we introduce a method for synthesizing any number of time-varying candidate control barrier…
Control systems operating in the real world face countless sources of unpredictable uncertainties. These random disturbances can render deterministic guarantees inapplicable and cause catastrophic safety failures. To overcome this, this…
Control Barrier Functions (CBF) have provided a very versatile framework for the synthesis of safe control architectures for a wide class of nonlinear dynamical systems. Typically, CBF-based synthesis approaches apply to systems that…
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) are a powerful tool for synthesizing safe control actions; however, constructing CBFs remains difficult for general nonlinear systems. In this work, we provide a constructive framework for synthesizing CBFs…
This paper studies the problem of utilizing data-driven adaptive control techniques to guarantee stability and safety of uncertain nonlinear systems with high relative degree. We first introduce the notion of a High Order Robust Adaptive…
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…
This paper works towards unifying two popular approaches in the safety control community: Hamilton-Jacobi (HJ) reachability and Control Barrier Functions (CBFs). HJ Reachability has methods for direct construction of value functions that…
This paper presents an approach to design control barrier functions (CBFs) for arbitrary state and input constraints using tools from the reference governor literature. In particular, it is shown that dynamic safety margins (DSMs) are CBFs…
Robust control barrier functions (CBFs) provide a principled mechanism for smooth safety enforcement under worst-case disturbances. However, existing approaches typically rely on explicit, closed-form structure in the dynamics (e.g.,…