相关论文: Safety for Time-Varying Parameterized Sets Using C…
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…
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…
Ensuring the safety of complex dynamical systems often relies on Hamilton-Jacobi (HJ) Reachability Analysis or Control Barrier Functions (CBFs). Both methods require computing a function that characterizes a safe set that can be made…
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…
Safety is of paramount importance in control systems to avoid costly risks and catastrophic damages. The control barrier function (CBF) method, a promising solution for safety-critical control, poses a new challenge of enhancing control…
Control barrier function (CBF)-based methods provide the minimum modification necessary to formally guarantee safety in the context of quadratic programming, and strict safety guarantee for safety critical systems. However, most CBF-related…
We present a closed-form optimal feedback control method that ensures safety in an a prior unknown and potentially dynamic environment. This article considers the scenario where local perception data (e.g., LiDAR) is obtained periodically,…
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…
Constructing a control invariant set with an appropriate shape that fits within a given state constraint is a fundamental problem in safety-critical control but is known to be difficult, especially for large or complex spaces. This paper…
Safely navigating around obstacles while respecting the dynamics, control, and geometry of the underlying system is a key challenge in robotics. Control Barrier Functions (CBFs) generate safe control policies by considering system dynamics…
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…
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…
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 of control systems. Control Barrier Functions (CBFs) are proposed to ensure the safety of the control system by constructing safety filters or synthesizing control inputs. However, the safety guarantee…
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) have recently become a powerful method for rendering desired safe sets forward invariant in single- and multi-agent systems. In the multi-agent case, prior literature has considered scenarios where all…
We propose new methods to synthesize control barrier function (CBF)-based safe controllers that avoid input saturation, which can cause safety violations. In particular, our method is created for high-dimensional, general nonlinear systems,…
This paper investigates the control barrier function (CBF) based safety-critical control for continuous nonlinear control affine systems using the more efficient online algorithms through time-varying optimization. The idea lies in that…
This paper takes a step towards addressing the difficulty of constructing Control Barrier Functions (CBFs) for parallel safety boundaries. A single CBF for both boundaries has been reported to be difficult to validate for safety, and we…
This paper addresses the challenge of safe navigation for rigid-body mobile robots in dynamic environments. We introduce an analytic approach to compute the distance between a polygon and an ellipse, and employ it to construct a control…