29 citations · 84 across the 16 of their papers we have counts for
9 papers · 1 filter
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…