124 citations · 200 across the 25 of their papers we have counts for
5 papers · 1 filter
Safety-Aware Preference-Based Learning for Safety-Critical Control
Ryan K. Cosner, Maegan Tucker, Andrew J. Taylor +7
Bringing dynamic robots into the wild requires a tenuous balance between performance and safety. Yet controllers designed to provide robust safety guarantees often result in conser…
Model-Free Safety-Critical Control for Robotic Systems
Tamas G. Molnar, Ryan K. Cosner, Andrew W. Singletary +2
This paper presents a framework for the safety-critical control of robotic systems, when safety is defined on safe regions in the configuration space. To maintain safety, we synthe…
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.…
Multi-rate Control Design under Input Constraints via Fixed-Time Barrier Functions
Kunal Garg, Ryan K. Cosner, Ugo Rosolia +2
In this paper, we introduce the notion of periodic safety, which requires that the system trajectories periodically visit a subset of a forward-invariant safe set, and utilize it i…