123 citations · 672 across the 112 of their papers we have counts for
10 papers · 1 filter
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…
Feasible Space Monitoring for Multiple Control Barrier Functions with application to Large Scale Indoor Navigation
Hardik Parwana, Mitchell Black, Bardh Hoxha +4
Quadratic programs (QP) subject to multiple time-dependent control barrier function (CBF) based constraints have been used to design safety-critical controllers. However, ensuring…
Eclares: Energy-Aware Clarity-Driven Ergodic Search
Kaleb Ben Naveed, Devansh Agrawal, Christopher Vermillion +1
Planning informative trajectories while considering the spatial distribution of the information over the environment, as well as constraints such as the robot's limited battery cap…
Aerial Swarm Defense using Interception and Herding Strategies
Vishnu S. Chipade, Dimitra Panagou
This paper presents a multi-mode solution to the problem of defending a circular protected area (target) from a wide range of attacks by swarms of risk-taking and/or risk-averse at…
Algorithms for Finding Compatible Constraints in Receding-Horizon Control of Dynamical Systems
Hardik Parwana, Ruiyang Wang, Dimitra Panagou
This paper addresses synthesizing receding-horizon controllers for nonlinear, control-affine dynamical systems under multiple incompatible hard and soft constraints. Handling incom…
Sensor-based Planning and Control for Robotic Systems: Introducing Clarity and Perceivability
Devansh R Agrawal, Dimitra Panagou
We introduce an information measure, termed clarity, motivated by information entropy, and show that it has intuitive properties relevant to dynamic coverage control and informativ…
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…
Safety Under Uncertainty: Tight Bounds with Risk-Aware Control Barrier Functions
Mitchell Black, Georgios Fainekos, Bardh Hoxha +2
We propose a novel class of risk-aware control barrier functions (RA-CBFs) for the control of stochastic safety-critical systems. Leveraging a result from the stochastic level-cros…
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…