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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
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…