相关论文: Viscosity CBFs: Bridging the Control Barrier Funct…

Receding horizon control (RHC) is a popular procedure to deal with optimal control problems. Due to the existence of state constraints, optimization-based RHC often suffers the notorious issue of infeasibility, which strongly shrinks the…

Ensuring safety in autonomous systems requires controllers that aim to satisfy state-wise constraints without relying on online interaction.While existing Safe Offline RL methods typically enforce soft expected-cost constraints, they…

Fixed-wing UAVs have transformed the transportation system with their high flight speed and long endurance, yet their safe operation in increasingly cluttered environments depends heavily on effective collision avoidance techniques. This…

Ensuring robot safety in complex environments is a difficult task due to actuation limits, such as torque bounds. This paper presents a safety-critical control framework that leverages learning-based switching between multiple backup…

This paper generalizes the control barrier function framework by replacing scalar-valued functions with matrix-valued ones. Specifically, we develop barrier conditions for safe sets defined by matrix inequalities -- both semidefinite and…

As autonomous systems become more ubiquitous in daily life, ensuring high performance with guaranteed safety is crucial. However, safety and performance could be competing objectives, which makes their co-optimization difficult.…

As perception-based controllers for autonomous systems become increasingly popular in the real world, it is important that we can formally verify their safety and performance despite perceptual uncertainty. Unfortunately, the verification…

Researchers have developed various cascaded controllers and non-cascaded controllers for the navigation and control of quadrotors in recent years. It is vital to ensure the safety of a quadrotor both in normal state and in abnormal state if…

This paper provides an introduction and overview of recent work on control barrier functions and their use to verify and enforce safety properties in the context of (optimization based) safety-critical controllers. We survey the main…

This letter studies the dynamical properties of safety filters designed based on Control Barrier Functions (CBF). This mechanism, which is popular in safety-critical applications, takes a nominal controller and minimally modifies it to…

Control barrier functions (CBFs) provide a principled framework for enforcing safety in control systems -- yet the certified safe operating region in practice is often conservative, especially under input bounds. In many applications,…

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…

This work develops a robust adaptive control strategy for discrete-time systems using Control Barrier Functions (CBFs) to ensure safety under parametric model uncertainty and disturbances. A key contribution of this work is establishing a…

In leader-follower consensus, strong r-robustness of the communication graph provides a sufficient condition for followers to achieve consensus in the presence of misbehaving agents. Previous studies have assumed that robots can form and/or…

Safety is a critical property for control systems in medicine, transportation, manufacturing, and other applications, and can be defined as ensuring positive invariance of a predefined safe set. This paper investigates the problems of…

Until recently, the concept of soft robot safety was an informal notion, often attributed solely to the fact that soft robots are less likely to damage their operating environment than rigid robots. As the field moves toward feedback…

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…

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,…

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…

Ensuring liveness and safety of autonomous and cyber-physical systems remains a fundamental challenge, particularly when multiple safety constraints are present. This letter advances the theoretical foundations of safety-filter Quadratic…