91 citations · 135 across the 34 of their papers we have counts for
13 papers · 1 filter
Constructive Safety-Critical Control: Synthesizing Control Barrier Functions for Partially Feedback Linearizable Systems
Max H. Cohen, Ryan K. Cosner, Aaron D. Ames
Certifying the safety of nonlinear systems, through the lens of set invariance and control barrier functions (CBFs), offers a powerful method for controller synthesis, provided a C…
Generative Modeling of Residuals for Real-Time Risk-Sensitive Safety with Discrete-Time Control Barrier Functions
Ryan K. Cosner, Igor Sadalski, Jana K. Woo +2
A key source of brittleness for robotic systems is the presence of model uncertainty and external disturbances. Most existing approaches to robust control either seek to bound the…
Safe Online Dynamics Learning with Initially Unknown Models and Infeasible Safety Certificates
Alexandre Capone, Ryan Cosner, Aaron Ames +1
Safety-critical control tasks with high levels of uncertainty are becoming increasingly common. Typically, techniques that guarantee safety during learning and control utilize cons…
Safety-Critical Control of Nonholonomic Vehicles in Dynamic Environments using Velocity Obstacles
Aurora Haraldsen, Martin S. Wiig, Aaron D. Ames +1
This paper considers collision avoidance for vehicles with first-order nonholonomic constraints maintaining nonzero forward speeds, moving within dynamic environments. We leverage…
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…
On the Safety of Connected Cruise Control: Analysis and Synthesis with Control Barrier Functions
Tamas G. Molnar, Gabor Orosz, Aaron D. Ames
Connected automated vehicles have shown great potential to improve the efficiency of transportation systems in terms of passenger comfort, fuel economy, stability of driving behavi…