3 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…
math.DS2024
Passivity Tools for Hybrid Learning Rules in Large Populations
Jair Certorio, Kevin Chang, Nuno C. Martins +2
Recent work has pioneered the use of system-theoretic passivity to study equilibrium stability for the dynamics of noncooperative strategic interactions in large populations of lea…