4 papers · 1 filter
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…