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