11 citations · 14 across the 8 of their papers we have counts for
10 papers · 1 filter
Combinatorial Control Barrier Functions: Nested Boolean and p-choose-r Compositions of Safety Constraints
Pio Ong, Haejoon Lee, Tamas G. Molnar +2
This paper investigates the problem of composing multiple control barrier functions (CBFs) -- and matrix control barrier functions (MCBFs) -- through logical and combinatorial oper…
On the Properties of Optimal-Decay Control Barrier Functions
Pio Ong, Max H. Cohen, Tamas G. Molnar +1
Control barrier functions provide a powerful means for synthesizing safety filters that ensure safety framed as forward set invariance. Key to CBFs' effectiveness is the simple ine…
Rectified Control Barrier Functions for High-Order Safety Constraints
Pio Ong, Max H. Cohen, Tamas G. Molnar +1
This paper presents a novel approach for synthesizing control barrier functions (CBFs) from high relative degree safety constraints: Rectified CBFs (ReCBFs). We begin by discussing…
Safety-Critical Controller Synthesis with Reduced-Order Models
Max H. Cohen, Noel Csomay-Shanklin, William D. Compton +2
Reduced-order models (ROMs) provide lower dimensional representations of complex systems, capturing their salient features while simplifying control design. Building on previous wo…
Safe and Stable Connected Cruise Control for Connected Automated Vehicles with Response Lag
Yuchen Chen, Gabor Orosz, Tamas G. Molnar
Controlling connected automated vehicles (CAVs) via vehicle-to-everything (V2X) connectivity holds significant promise for improving fuel economy and traffic efficiency. However, t…
Disturbance-Robust Backup Control Barrier Functions: Safety Under Uncertain Dynamics
David E. J. van Wijk, Samuel Coogan, Tamas G. Molnar +2
Obtaining a controlled invariant set is crucial for safety-critical control with control barrier functions (CBFs) but is non-trivial for complex nonlinear systems and constraints.…