55 citations · 90 across the 24 of their papers we have counts for
4 papers · 1 filter
Safe Stabilizing Linear Feedback: Necessary and Sufficient Conditions, Optimality, and Margins
Pol Mestres, Shima Sadat Mousavi, Pio Ong +1
Control barrier functions (CBFs) have become an important controller design tool for autonomous systems subject to safety constraints. Despite their popularity, recent works have s…
High-Order Matrix Control Barrier Functions: Well-Posedness and Feasibility via Matrix Relative Degree
Samuel G. Gessow, Pio Ong, Aaron D. Ames +1
Control barrier functions (CBFs) provide an effective framework for enforcing safety in dynamical systems with scalar constraints. However, many safety constraints are more natural…
Nonsmooth Control Barrier Function Design of Continuous Constraints for Network Connectivity Maintenance
Pio Ong, Beatrice Capelli, Lorenzo Sabattini +1
This paper considers the problem of maintaining global connectivity of a multi-robot system while executing a desired coordination task. Our approach builds on optimization-based f…
Performance-Barrier-Based Event-Triggered Control with Applications to Network Systems
Pio Ong, Jorge Cortes
This paper proposes a novel framework for resource-aware control design termed performance-barrier-based triggering. Given a feedback policy, along with a Lyapunov function certifi…