55 citations · 90 across the 24 of their papers we have counts for
7 papers · 1 filter
Filtering for Liveness: Recurrence via Backup Reachability Control Barrier Functions
David E. J. van Wijk, Pio Ong, Aaron D. Ames +1
Liveness requires a dynamical system to repeatedly accomplish a desired objective over time. In this work, we consider a particular form of liveness known as recurrence, which requ…
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…
Safety Filtering with an Infinite Number of Constraints
Max H. Cohen, Pio Ong, Pol Mestres +1
Control barrier functions (CBFs) provide a rigorous framework for designing controllers enforcing safety constraints. While CBF theory is well-developed for a finite number of safe…
SafeSpace: Aggregating Safe Sets from Backup Control Barrier Functions under Input Constraints
Pio Ong, David E. J. van Wijk, Massimiliano de Sa +2
Control barrier functions (CBFs) provide a principled framework for enforcing safety in control systems -- yet the certified safe operating region in practice is often conservative…
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…
Steering with Contingencies: Combinatorial Stabilization and Reach-Avoid Filters
Yana Lishkova, Pio Ong, Sander Tonkens +2
In applications such as autonomous landing and navigation, it is often desirable to steer toward a target while retaining the ability to divert to at least (out of ) alterna…
Input-to-State Safe Backstepping: Robust Safety-Critical Control with Unmatched Uncertainties
Max H. Cohen, Pio Ong, Aaron D. Ames
Guaranteeing safety in the presence of unmatched disturbances -- uncertainties that cannot be directly canceled by the control input -- remains a key challenge in nonlinear control…