5 papers
Characterization of the Dynamical Properties of Safety Filters for Linear Planar Systems
Yiting Chen, Pol Mestres, Emiliano Dall'Anese +1
This paper studies the dynamical properties of closed-loop systems obtained from control barrier function-based safety filters. We provide a sufficient and necessary condition for…
Stabilization of Nonlinear Systems through Control Barrier Functions
Pol Mestres, Kehan Long, Melvin Leok +2
This paper proposes a control design approach for stabilizing nonlinear control systems. Our key observation is that the set of points where the decrease condition of a control Lya…
Distributed Safe Navigation of Multi-Agent Systems using Control Barrier Function-Based Optimal Controllers
Pol Mestres, Carlos Nieto-Granda, Jorge Cortés
This paper proposes a distributed controller synthesis framework for safe navigation of multi-agent systems. We leverage control barrier functions to formulate collision avoidance…
Feasibility Analysis and Regularity Characterization of Distributionally Robust Safe Stabilizing Controllers
Pol Mestres, Kehan Long, Nikolay Atanasov +1
This paper studies the well-posedness and regularity of safe stabilizing optimization-based controllers for control-affine systems in the presence of model uncertainty. When the sy…
Distributed and Anytime Algorithm for Network Optimization Problems with Separable Structure
Pol Mestres, Jorge Cortés
This paper considers the problem of designing a dynamical system to solve constrained optimization problems in a distributed way and in an anytime fashion (i.e., such that the feas…