2 papers
cs.RO2025
ShieldNN: A Provably Safe NN Filter for Unsafe NN Controllers
James Ferlez, Mahmoud Elnaggar, Yasser Shoukry +1
In this paper, we develop a novel closed-form Control Barrier Function (CBF) and associated controller shield for the Kinematic Bicycle Model (KBM) with respect to obstacle avoidan…
cs.LG2025
Extracting Forward Invariant Sets from Neural Network-Based Control Barrier Functions
Goli Vaisi, James Ferlez, Yasser Shoukry
Training Neural Networks (NNs) to serve as Barrier Functions (BFs) is a popular way to improve the safety of autonomous dynamical systems. Despite significant practical success, th…