124 citations · 411 across the 31 of their papers we have counts for
6 papers · 1 filter
Safety-critical Control of Quadrupedal Robots with Rolling Arms for Autonomous Inspection of Complex Environments
Jaemin Lee, Jeeseop Kim, Wyatt Ubellacker +2
This paper presents a safety-critical control framework tailored for quadruped robots equipped with a roller arm, particularly when performing locomotive tasks such as autonomous r…
Composing Control Barrier Functions for Complex Safety Specifications
Tamas G. Molnar, Aaron D. Ames
The increasing complexity of control systems necessitates control laws that guarantee safety w.r.t. complex combinations of constraints. In this letter, we propose a framework to d…
On the Safety of Connected Cruise Control: Analysis and Synthesis with Control Barrier Functions
Tamas G. Molnar, Gabor Orosz, Aaron D. Ames
Connected automated vehicles have shown great potential to improve the efficiency of transportation systems in terms of passenger comfort, fuel economy, stability of driving behavi…
Parameterized Barrier Functions to Guarantee Safety under Uncertainty
Anil Alan, Tamas G. Molnar, Aaron D. Ames +1
Deploying safety-critical controllers in practice necessitates the ability to modulate uncertainties in control systems. In this context, robust control barrier functions -- in a v…
Safety-Critical Control with Bounded Inputs via Reduced Order Models
Tamas G. Molnar, Aaron D. Ames
Guaranteeing safe behavior on complex autonomous systems -- from cars to walking robots -- is challenging due to the inherently high dimensional nature of these systems and the cor…
Safety-Critical Traffic Control by Connected Automated Vehicles
Huan Yu, Chenguang Zhao, Tamas G. Molnar
Connected automated vehicles (CAVs) have shown great potential in improving traffic throughput and stability. Although various longitudinal control strategies have been developed f…