324 citations · 420 across the 56 of their papers we have counts for
6 papers · 1 filter
Fixed time convergence guarantees for Higher Order Control Barrier Functions
Janani S K, Shishir Kolathaya
We present a novel method for designing higher-order Control Barrier Functions (CBFs) that guarantee convergence to a safe set within a user-specified finite. Traditional Higher Or…
Safe and Performant Controller Synthesis using Gradient-based Model Predictive Control and Control Barrier Functions
Aditya Singh, Aastha Mishra, Manan Tayal +2
Ensuring both performance and safety is critical for autonomous systems operating in real-world environments. While safety filters such as Control Barrier Functions (CBFs) enforce…
Stochastic Neural Control Barrier Functions
Hongchao Zhang, Manan Tayal, Jackson Cox +3
Control Barrier Functions (CBFs) are utilized to ensure the safety of control systems. CBFs act as safety filters in order to provide safety guarantees without compromising system…
CP-NCBF: A Conformal Prediction-based Approach to Synthesize Verified Neural Control Barrier Functions
Manan Tayal, Aditya Singh, Pushpak Jagtap +1
Control Barrier Functions (CBFs) are a practical approach for designing safety-critical controllers, but constructing them for arbitrary nonlinear dynamical systems remains a chall…
Real Time Safety of Fixed-wing UAVs using Collision Cone Control Barrier Functions
Aryan Agarwal, Ravi Agrawal, Manan Tayal +2
Fixed-wing UAVs have transformed the transportation system with their high flight speed and long endurance, yet their safe operation in increasingly cluttered environments depends…
Safety-Critical Kinematic Control of Robotic Systems
Andrew Singletary, Shishir Kolathaya, Aaron D. Ames
Over the decades, kinematic controllers have proven to be practically useful for applications like set-point and trajectory tracking in robotic systems. To this end, we formulate a…