2 papers
eess.SY2023
Characterizing Smooth Safety Filters via the Implicit Function Theorem
Max H. Cohen, Pio Ong, Gilbert Bahati +1
Optimization-based safety filters, such as control barrier function (CBF) based quadratic programs (QPs), have demonstrated success in controlling autonomous systems to achieve com…
eess.SY2023
Intermittent Safety Filters for Event-Triggered Safety Maneuvers with Application to Satellite Orbit Transfers
Pio Ong, Aaron D. Ames
In balancing safety with the nominal control objectives, e.g., stabilization, it is desirable to reduce the time period when safety filters are in effect. Inspired by traditional s…