相关论文: Robust Koopman Control Barrier Filters for Safe Ac…

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…

We propose a novel class of risk-aware control barrier functions (RA-CBFs) for the control of stochastic safety-critical systems. Leveraging a result from the stochastic level-crossing literature, we deviate from the martingale theory that…

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 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 paper implements deep reinforcement learning (DRL) with a safety filter for spacecraft reorientation control with a single pointing keep-out zone. A new state space representation is designed which includes a compact representation of…

Control Barrier Functions (CBFs) have emerged as a powerful paradigm in control theory, providing a principled approach to enforcing safety-critical constraints in dynamic systems. This survey paper comprehensively explores the foundational…

Training-time safety violations have been a major concern when we deploy reinforcement learning algorithms in the real world. This paper explores the possibility of safe RL algorithms with zero training-time safety violations in the…

This paper develops rollover prevention guarantees for mobile robots using control barrier function (CBF) theory, and demonstrates the method experimentally. We consider a safety measure based on a zero moment point condition through the…

This paper studies the efficient implementation of safety filters that are designed using control barrier functions (CBFs), which minimally modify a nominal controller to render it safe with respect to a prescribed set of states. Although…

Recently, there has been increasing attention in robot research towards the whole-body collision avoidance. In this paper, we propose a safety-critical controller that utilizes time-varying control barrier functions (time varying CBFs)…

Federated reinforcement learning (FRL) has emerged as a promising paradigm, enabling multiple agents to collaborate and learn a shared policy adaptable across heterogeneous environments. Among the various reinforcement learning (RL)…

Developing agents that can perform complex control tasks from high-dimensional observations is a core ability of autonomous agents that requires underlying robust task control policies and adapting the underlying visual representations to…

This work explores a collaborative method for ensuring safety in multi-agent formation control problems. We formulate a control barrier function (CBF) based safety filter control law for a generic distributed formation controller and extend…

This paper presents a general end-to-end framework for constructing robust and reliable layered safety filters that can be leveraged to perform dynamic collision avoidance over a broad range of applications using only local perception data.…

Safety-critical whole-body robot control demands reactive methods that ensure collision avoidance in real-time. Complementarity constraints and control barrier functions (CBF) have emerged as core tools for ensuring such safety constraints,…

Learning-based methods have gained popularity for training candidate Control Barrier Functions (CBFs) to satisfy the CBF conditions on a finite set of sampled states. However, since the CBF is unknown a priori, it is unclear which sampled…

High performance, reliability and safety are crucial properties of any Software-Defined-Networking (SDN) system. Although the use of Deep Reinforcement Learning (DRL) algorithms has been widely studied to improve performance, their…

For efficient and robust task accomplishment in multi-agent systems, an agent must be able to distinguish cooperative agents from non-cooperative agents, i.e., uncooperative and adversarial agents. Task descriptions capturing safety and…

This study presents an innovative approach to Model Predictive Control (MPC) by leveraging the powerful combination of Koopman theory and Deep Reinforcement Learning (DRL). By transforming nonlinear dynamical systems into a…

In this work, we address the problem of ensuring real-time safety in autonomous robot navigation, in spatially constrained dynamic environments, by utilizing only onboard sensors. We present a real-time control architecture that integrates…