29 citations · 84 across the 16 of their papers we have counts for
18 papers
Regions of Attraction of CBF-Based Safety Filters for Stable Planar Linear Systems
Adam K. Kiss, Pol Mestres, Andras Bartfai +2
In this paper we study the dynamical properties induced by safety filters based on control barrier functions (CBFs). These are obtained by minimally modifying a nominal controller…
Functional Observers for Output-Feedback Safety with High-Order Control Barrier Functions
Shima Sadat Mousavi, Pol Mestres, Aaron D. Ames
This paper studies output-feedback safety filtering for linear systems using high-order control barrier functions (HOCBFs) when the full state is unavailable. Since the HOCBF condi…
Backup Control Barrier Function Synthesis using Sum-of-Squares Reachability
Jungbae Chun, Shima Sadat Mousavi, David E. J. van Wijk +3
Backup control barrier functions (bCBFs) enforce safety for input-constrained nonlinear systems using a pre-certified backup set and controller, but their performance depends stron…
Safe Stabilizing Linear Feedback: Necessary and Sufficient Conditions, Optimality, and Margins
Pol Mestres, Shima Sadat Mousavi, Pio Ong +1
Control barrier functions (CBFs) have become an important controller design tool for autonomous systems subject to safety constraints. Despite their popularity, recent works have s…
Stability Analysis in Multi-Constraint Safety Filters for Linear Systems
Shima Sadat Mousavi, Pol Mestres, Aaron D. Ames
Multi-constraint safety filters based on control barrier functions for linear systems with affine state constraints yield continuous piecewise-affine closed-loop dynamics and may i…
Feasibility and Explicit Safety Filters for Control Barrier Functions in Linear Systems
Shima Sadat Mousavi, Max H. Cohen, Pol Mestres +1
Safety filters based on control barrier functions (CBFs) and high-order control barrier functions (HOCBFs) are commonly implemented through quadratic programs (QPs), which may beco…
Stability Margins of CBF-QP Safety Filters: Analysis and Synthesis
Shima Sadat Mousavi, Pol Mestres, Aaron D. Ames
Control barrier function (CBF)-QP safety filters enforce safety by minimally modifying a nominal controller. While prior work has mainly addressed robustness of safety under uncert…
Dynamical Properties of Safety Filters for Linear Systems and Affine Control Barrier Functions
Pol Mestres, Shima Sadat Mousavi, Aaron D. Ames
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,…
From Vertices to Convex Hulls: Certifying Set-Wise Compatibility for CBF Constraints
Shima Sadat Mousavi, Xiao Tan, Aaron D. Ames
This paper develops certificates that propagate compatibility of multiple control barrier function (CBF) constraints from sampled vertices to their convex hull. Under mild concavit…
Explicit Control Barrier Function-based Safety Filters and their Resource-Aware Computation
Pol Mestres, Shima Sadat Mousavi, Pio Ong +4
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…
Modal Strong Structural Controllability for Networks with Dynamical Nodes
Shima Sadat Mousavi, Anastasios Kouvelas, Karl H. Johansson
In this article, a new notion of modal strong structural controllability is introduced and examined for a family of LTI networks. These networks include structured LTI subsystems,…
Synthesis of Output-Feedback Controllers for Mixed Traffic Systems in Presence of Disturbances and Uncertainties
Shima Sadat Mousavi, Somayeh Bahrami, Anastasios Kouvelas
In this paper, we study mixed traffic systems that move along a single-lane ring-road or open-road. The traffic flow forms a platoon, which includes a number of heterogeneous human…
Strong Structural Controllability of Signed Networks
Shima Sadat Mousavi, Mohammad Haeri, Mehran Mesbahi
In this paper, we discuss the controllability of a family of linear time-invariant (LTI) networks defined on a signed graph. In this direction, we introduce the notion of positive…
Today Me, Tomorrow Thee: Efficient Resource Allocation in Competitive Settings using Karma Games
Andrea Censi, Saverio Bolognani, Julian G. Zilly +2
We present a new type of coordination mechanism among multiple agents for the allocation of a finite resource, such as the allocation of time slots for passing an intersection. We…
Strong Structural Controllability of Networks under Time-Invariant and Time-Varying Topological Perturbations
Shima Sadat Mousavi, Mohammad Haeri, Mehran Mesbahi
This paper investigates the robustness of strong structural controllability for linear time-invariant and linear time-varying directed networks with respect to structural perturbat…
Controllability Analysis of Threshold Graphs and Cographs
Shima Sadat Mousavi, Mohammad Haeri, Mehran Mesbahi
In this paper, we investigate the controllability of a linear time-invariant network following a Laplacian dynamics defined on a threshold graph. In this direction, an algorithm fo…
Laplacian Dynamics on Cographs: Controllability Analysis through Joins and Unions
Shima Sadat Mousavi, Mohammad Haeri, Mehran Mesbahi
In this paper, we examine the controllability of Laplacian dynamic networks on cographs. Cographs appear in modeling a wide range of networks and include as special instances, the…
Stability Analysis of Fractional Order Systems Described in the Lur'e Structure
Shima Sadat Mousavi, Mohammad Saleh Tavazoei
Lur'e systems are feedback interconnection of a linear time-invariant subsystem in the forward path and a memoryless nonlinear one in the feedback path, which have many physical re…