19 citations · 36 across the 12 of their papers we have counts for
15 papers
Distributed Control Barrier Functions for Safe Multi-Vehicle Navigation in Heterogeneous USV Fleets
Tyler Paine, Brendan Long, Jeremy Wenger +3
Collision avoidance in heterogeneous fleets of uncrewed vessels is challenging because the decision-making processes and controllers often differ between platforms, and it is furth…
Computing Safe Control Inputs using Discrete-Time Matrix Control Barrier Functions via Convex Optimization
James Usevitch, Juan Augusto Paredes Salazar, Ankit Goel
Control barrier functions (CBFs) have seen widespread success in providing forward invariance and safety guarantees for dynamical control systems. A crucial limitation of discrete-…
Predictive Control Barrier Functions for Discrete-Time Linear Systems with Unmodeled Delays
Juan Augusto Paredes Salazar, James Usevitch, Ankit Goel
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 cau…
Safety for Time-Varying Parameterized Sets Using Control Barrier Function Methods
James Usevitch, Jackson Sahleen
A fundamental and classical problem in mobile autonomous systems is maintaining the safety of autonomous agents during deployment. Prior literature has presented techniques using c…
Advances in the Theory of Control Barrier Functions: Addressing Practical Challenges in Safe Control Synthesis for Autonomous and Robotic Systems
Kunal Garg, James Usevitch, Joseph Breeden +4
This tutorial paper presents recent work of the authors that extends the theory of Control Barrier Functions (CBFs) to address practical challenges in the synthesis of safe control…
Adversarial Resilience for Sampled-Data Systems under High-Relative-Degree Safety Constraints
James Usevitch, Dimitra Panagou
Control barrier functions (CBFs) have recently become a powerful method for rendering desired safe sets forward invariant in single- and multi-agent systems. In the multi-agent cas…