94 citations · 103 across the 6 of their papers we have counts for
13 papers
Safe Backstepping with Control Barrier Functions
Andrew J. Taylor, Pio Ong, Tamas G. Molnar +1
Complex control systems are often described in a layered fashion, represented as higher-order systems where the inputs appear after a chain of integrators. While Control Barrier Fu…
Multi-Rate Planning and Control of Uncertain Nonlinear Systems: Model Predictive Control and Control Lyapunov Functions
Noel Csomay-Shanklin, Andrew J. Taylor, Ugo Rosolia +1
Modern control systems must operate in increasingly complex environments subject to safety constraints and input limits, and are often implemented in a hierarchical fashion with di…
Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety
Noel Csomay-Shanklin, Ryan K. Cosner, Min Dai +2
This paper combines episodic learning and control barrier functions in the setting of bipedal locomotion. The safety guarantees that control barrier functions provide are only vali…
Measurement-Robust Control Barrier Functions: Certainty in Safety with Uncertainty in State
Ryan K. Cosner, Andrew W. Singletary, Andrew J. Taylor +3
The increasing complexity of modern robotic systems and the environments they operate in necessitates the formal consideration of safety in the presence of imperfect measurements.…
Sampled-Data Stabilization with Control Lyapunov Functions via Quadratically Constrained Quadratic Programs
Andrew J. Taylor, Victor D. Dorobantu, Yisong Yue +2
Controller design for nonlinear systems with Control Lyapunov Function (CLF) based quadratic programs has recently been successfully applied to a diverse set of difficult control t…
Towards Robust Data-Driven Control Synthesis for Nonlinear Systems with Actuation Uncertainty
Andrew J. Taylor, Victor D. Dorobantu, Sarah Dean +3
Modern nonlinear control theory seeks to endow systems with properties such as stability and safety, and has been deployed successfully across various domains. Despite this success…