123 citations · 672 across the 112 of their papers we have counts for
31 papers · 1 filter
Reformulations of Quadratic Programs for Lipschitz Continuity
Devansh R. Agrawal, Haejoon Lee, Dimitra Panagou
Optimization-based controllers often lack regularity guarantees, such as Lipschitz continuity, when multiple constraints are present. When used to control a dynamical system, these…
Feasibility Analysis and Constraint Selection in Optimization-Based Controllers
Panagiotis Rousseas, Haejoon Lee, Dimos V. Dimarogonas +1
Control synthesis under constraints is at the forefront of research on autonomous systems, in part due to its broad application from low-level control to high-level planning, where…
Feasibility Evaluation of Quadratic Programs for Constrained Control
Panagiotis Rousseas, Dimitra Panagou
This paper presents a computationally-efficient method for evaluating the feasibility of Quadratic Programs (QPs) for online constrained control. Based on the duality principle, we…
Risk-Aware Fixed-Time Stabilization of Stochastic Systems under Measurement Uncertainty
Mitchell Black, Georgios Fainekos, Bardh Hoxha +1
This paper addresses the problem of risk-aware fixed-time stabilization of a class of uncertain, output-feedback nonlinear systems modeled via stochastic differential equations. Fi…
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…
Consolidated Control Barrier Functions: Synthesis and Online Verification via Adaptation under Input Constraints
Mitchell Black, Dimitra Panagou
In this paper, we develop a novel adaptation-based approach to constrained control design under multiple state and input constraints. Specifically, we introduce a method for synthe…
Rate-Tunable Control Barrier Functions: Methods and Algorithms for Online Adaptation
Hardik Parwana, Dimitra Panagou
Control Barrier Functions offer safety certificates by dictating controllers that enforce safety constraints. However, their response depends on the classK function that is used to…
Safety-Critical Control for Systems with Impulsive Actuators and Dwell Time Constraints
Joseph Breeden, Dimitra Panagou
This paper presents extensions of control barrier function (CBF) and control Lyapunov function (CLF) theory to systems wherein all actuators cause impulsive changes to the state tr…
Safe Control Design for Unknown Nonlinear Systems with Koopman-based Fixed-Time Identification
Mitchell Black, Dimitra Panagou
We consider the problem of safe control design for a class of nonlinear, control-affine systems subject to an unknown, additive, nonlinear disturbance. Leveraging recent advancemen…
Compositions of Multiple Control Barrier Functions Under Input Constraints
Joseph Breeden, Dimitra Panagou
This paper presents a methodology for ensuring that the composition of multiple Control Barrier Functions (CBFs) always leads to feasible conditions on the control input, even in t…
Adaptation for Validation of a Consolidated Control Barrier Function based Control Synthesis
Mitchell Black, Dimitra Panagou
We develop a novel adaptation-based technique for safe control design in the presence of multiple control barrier function (CBF) constraints. Specifically, we introduce an approach…
Trust-based Rate-Tunable Control Barrier Functions for Non-Cooperative Multi-Agent Systems
Hardik Parwana, Dimitra Panagou
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 ad…
Fixed-Time Parameter Adaptation for Safe Control Synthesis
Mitchell Black, Ehsan Arabi, Dimitra Panagou
This paper introduces a parameter adaptation-based control law for a class of nonlinear, control-affine, safety-critical systems subject to additive, parameter-affine model uncerta…
Predictive Control Barrier Functions for Online Safety Critical Control
Joseph Breeden, Dimitra Panagou
This paper presents a methodology for constructing Control Barrier Functions (CBFs) that proactively consider the future safety of a system along a nominal trajectory, and effect c…
Future-Focused Control Barrier Functions for Autonomous Vehicle Control
Mitchell Black, Mrdjan Jankovic, Abhishek Sharma +1
In this paper, we introduce a class of future-focused control barrier functions (ff-CBF) aimed at improving traditionally myopic CBF based control design and study their efficacy i…
Recursive Feasibility Guided Optimal Parameter Adaptation of Differential Convex Optimization Policies for Safety-Critical Systems
Hardik Parwana, Dimitra Panagou
Quadratic Program(QP) based state-feedback controllers, whose inequality constraints bound the rate of change of control barrier(CBFs) and lyapunov function with a class-$\mathcal{…
Guaranteed Safe Spacecraft Docking with Control Barrier Functions
Joseph Breeden, Dimitra Panagou
This paper presents a strategy for control of a spacecraft docking with a non-maneuvering target in the presence of safety constraints and bounded disturbances. The presence of dis…
High Relative Degree Control Barrier Functions Under Input Constraints
Joseph Breeden, Dimitra Panagou
This paper presents methodologies for ensuring forward invariance of sublevel sets of constraint functions with high-relative-degree with respect to the system dynamics and in the…
Safe Control Synthesis via Input Constrained Control Barrier Functions
Devansh Agrawal, Dimitra Panagou
This paper introduces the notion of an Input Constrained Control Barrier Function (ICCBF), as a method to synthesize safety-critical controllers for non-linear control affine syste…
Control Barrier Functions in Sampled-Data Systems
Joseph Breeden, Kunal Garg, Dimitra Panagou
This paper presents conditions for ensuring forward invariance of safe sets under sampled-data system dynamics with piecewise-constant controllers and fixed time-steps. First, we i…
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…
A Fixed-Time Stable Adaptation Law for Safety-Critical Control under Parametric Uncertainty
Mitchell Black, Ehsan Arabi, Dimitra Panagou
We present a novel technique for solving the problem of safe control for a general class of nonlinear, control-affine systems subject to parametric model uncertainty. Invoking Lyap…
Strong Invariance Using Control Barrier Functions: A Clarke Tangent Cone Approach
James Usevitch, Kunal Garg, Dimitra Panagou
Many control applications require that a system be constrained to a particular set of states, often termed as safe set. A practical and flexible method for rendering safe sets forw…
Characterization of Domain of Fixed-time Stability under Control Input Constraints
Kunal Garg, Dimitra Panagou
In this paper, we study the effect of control input constraints on the domain of attraction of an FxTS equilibrium point. We first present a new result on FxTS, where we allow a po…