11 papers
Full-Body Dynamic Safety for Robot Manipulators: 3D Poisson Safety Functions for CBF-Based Safety Filters
Meg Wilkinson, Gilbert Bahati, Ryan M. Bena +3
Collision avoidance for robotic manipulators requires enforcing full-body safety constraints in high-dimensional configuration spaces. Control Barrier Function (CBF) based safety f…
Safe-SAGE: Social-Semantic Adaptive Guidance for Safe Engagement through Laplace-Modulated Poisson Safety Functions
Lizhi Yang, Ryan M. Bena, Meg Wilkinson +4
Traditional safety-critical control methods, such as control barrier functions, suffer from semantic blindness, exhibiting the same behavior around obstacles regardless of contextu…
Layered Safety: Enhancing Autonomous Collision Avoidance via Multistage CBF Safety Filters
Erina Yamaguchi, Ryan M. Bena, Gilbert Bahati +1
This paper presents a general end-to-end framework for constructing robust and reliable layered safety filters that can be leveraged to perform dynamic collision avoidance over a b…
Risk-Aware Safety Filters with Poisson Safety Functions and Laplace Guidance Fields
Gilbert Bahati, Ryan M. Bena, Meg Wilkinson +3
Robotic systems navigating in real-world settings require a semantic understanding of their environment to properly determine safe actions. This work aims to develop the mathematic…
Geometry-Aware Predictive Safety Filters on Humanoids: From Poisson Safety Functions to CBF Constrained MPC
Ryan M. Bena, Gilbert Bahati, Blake Werner +3
Autonomous navigation through unstructured and dynamically-changing environments is a complex task that continues to present many challenges for modern roboticists. In particular,…
Dynamic Safety in Complex Environments: Synthesizing Safety Filters with Poisson's Equation
Gilbert Bahati, Ryan M. Bena, Aaron D. Ames
Synthesizing safe sets for robotic systems operating in complex and dynamically changing environments is a challenging problem. Solving this problem can enable the construction of…
Control Barrier Function Synthesis for Nonlinear Systems with Dual Relative Degree
Gilbert Bahati, Ryan K. Cosner, Max H. Cohen +2
Control barrier functions (CBFs) are a powerful tool for synthesizing safe control actions; however, constructing CBFs remains difficult for general nonlinear systems. In this work…
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…
Sample-and-Hold Safety with Control Barrier Functions
Gilbert Bahati, Pio Ong, Aaron D. Ames
A common assumption on the deployment of safeguarding controllers on the digital platform is that high sampling frequency translates to a small violation of safety. This paper inve…
Stability and Safety through Event-Triggered Intermittent Control with Application to Spacecraft Orbit Stabilization
Pio Ong, Gilbert Bahati, Aaron D. Ames
In systems where the ability to actuate is a scarce resource, e.g., spacecrafts, it is desirable to only apply a given controller in an intermittent manner--with periods where the…
Multi-Adversarial Safety Analysis for Autonomous Vehicles
Gilbert Bahati, Marsalis Gibson, Alexandre Bayen
This work in progress considers reachability-based safety analysis in the domain of autonomous driving in multi-agent systems. We formulate the safety problem for a car following s…