124 citations · 411 across the 31 of their papers we have counts for
4 papers · 1 filter
Safety-Critical Control with Input Delay in Dynamic Environment
Tamas G. Molnar, Adam K. Kiss, Aaron D. Ames +1
Endowing nonlinear systems with safe behavior is increasingly important in modern control. This task is particularly challenging for real-life control systems that must operate saf…
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…
Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots
Wyatt Ubellacker, Noel Csomay-Shanklin, Tamas G. Molnar +1
Functional autonomous systems often realize complex tasks by utilizing state machines comprised of discrete primitive behaviors and transitions between these behaviors. This archit…
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.…