123 citations · 672 across the 112 of their papers we have counts for
7 papers · 2 filters
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…