相关论文: Polytope Volume Monitoring Problem: Formulation an…

Control Lyapunov functions (CLFs) and control barrier functions (CBFs) have been used to develop provably safe controllers by means of quadratic programs (QPs), guaranteeing safety in the form of trajectory invariance with respect to a…

Despite the significant role of turbomachinery in fluid-based energy transfer, precise simulation of rotating solid objects with complex geometry is a challenging task. In the present study, the volume penalization method (VPM) is combined…

We consider the problem of safely coordinating ensembles of identical autonomous agents to conduct complex missions with conflicting safety requirements and under noisy control inputs. Using non-smooth control barrier functions (CBFs) and…

In this paper, a new framework for continuous-time maximum a posteriori estimation based on the Chebyshev polynomial optimization (ChevOpt) is proposed, which transforms the nonlinear continuous-time state estimation into a problem of…

This paper presents a new method for solving a class of nonlinear optimal control problems with a quadratic performance index. In this method, first the original optimal control problem is transformed into a nonlinear two-point boundary…

This article introduces the Pareto Control Barrier Function (PCBF) algorithm to maximize the inner safe set of dynamical systems under input constraints. Traditional Control Barrier Functions (CBFs) ensure safety by maintaining system…

One often encounters the curse of dimensionality in the application of dynamic programming to determine optimal policies for controlled Markov chains. In this paper, we provide a method to construct sub-optimal policies along with a bound…

Piecewise Barrier Tubes (PBT) is a new technique for flowpipe overapproximation for nonlinear systems with polynomial dynamics, which leverages a combination of barrier certificates. PBT has advantages over traditional time-step based…

In fields such as mining, search and rescue, and archaeological exploration, ensuring real-time, collision-free navigation of robots in confined, cluttered environments is imperative. Despite the value of established path planning…

Control barrier functions (CBFs) are a powerful tool for the constrained control of nonlinear systems; however, the majority of results in the literature focus on systems subject to a single CBF constraint, making it challenging to…

Obtaining control barrier functions (CBFs) with large safe sets for complex nonlinear systems and constraints is a challenging task. Predictive CBFs address this issue by using an online finite-horizon optimal control problem that…

This paper introduces a predictive control barrier function (PCBF) framework for enforcing state constraints in discrete-time systems with unknown relative degree, which can be caused by input delays or unmodeled input dynamics. Existing…

In this paper we address the problem of control Lyapunov-barrier function (CLBF)-based safe stabilization for a class of nonlinear control-affine systems. A difficulty may arise for the case when a constraint has the relative degree larger…

This paper proposes a distributed coverage control strategy for quadcopters equipped with downward-facing cameras that prevents the appearance of unmonitored areas in between the quadcopters' fields of view (FOVs). We derive a necessary and…

A volume penalization-based immersed boundary technique is developed and thoroughly validated for fluid flow problems, specifically flow over bluff bodies. The proposed algorithm has been implemented in an Open Source Field Operation and…

A predictive control barrier function (PCBF) based safety filter is a modular framework to verify safety of a control input by predicting a future trajectory. The approach relies on the solution of two optimization problems, first computing…

The LBM is combined with the Volume Penalization (VP LBM) approach to simulate flows in the presence of obstacles. The single relaxation time LBM and the multiple relaxation time LBM are used. For cases where the fluid motion is enhanced by…

We present a method for synthesizing dynamic, reduced-order output-feedback polynomial control policies for control-affine nonlinear systems which guarantees runtime stability to a goal state, when using visual observations and a learned…

In this work, we propose a cascaded scheme of linear Model prediction Control (MPC) based on Control Barrier Functions (CBF) with Dynamic Feedback Linearization (DFL) for Vertical Take-off and Landing (VTOL) Unmanned Aerial Vehicles (UAVs).…

In this paper, we propose a quadratic programming-based filter for safe and stable controller design, via a Control Barrier Function (CBF) and a Control Lyapunov Function (CLF). Our method guarantees safety and local asymptotic stability…