124 citations · 411 across the 31 of their papers we have counts for
7 papers · 1 filter
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.…
Leveraging Cooperative Connected Automated Vehicles for Mixed Traffic Safety
Chenguang Zhao, Tamas G. Molnar, Huan Yu
The introduction of connected and automated vehicles (CAV) is believed to reduce congestion, enhance safety, and improve traffic efficiency. Numerous research studies have focused…
Safety-Critical Control for Autonomous Systems: Control Barrier Functions via Reduced-Order Models
Max H. Cohen, Tamas G. Molnar, Aaron D. Ames
Modern autonomous systems, such as flying, legged, and wheeled robots, are generally characterized by high-dimensional nonlinear dynamics, which presents challenges for model-based…
Collision Avoidance and Geofencing for Fixed-wing Aircraft with Control Barrier Functions
Tamas G. Molnar, Suresh K. Kannan, James Cunningham +3
Safety-critical failures often have fatal consequences in aerospace control. Control systems on aircraft, therefore, must ensure the strict satisfaction of safety constraints, pref…