67 citations · 135 across the 21 of their papers we have counts for
3 papers · 1 filter
Reformulations of Quadratic Programs for Lipschitz Continuity
Devansh R. Agrawal, Haejoon Lee, Dimitra Panagou
Optimization-based controllers often lack regularity guarantees, such as Lipschitz continuity, when multiple constraints are present. When used to control a dynamical system, these…
Advances in the Theory of Control Barrier Functions: Addressing Practical Challenges in Safe Control Synthesis for Autonomous and Robotic Systems
Kunal Garg, James Usevitch, Joseph Breeden +4
This tutorial paper presents recent work of the authors that extends the theory of Control Barrier Functions (CBFs) to address practical challenges in the synthesis of safe control…
Safe Control Synthesis via Input Constrained Control Barrier Functions
Devansh Agrawal, Dimitra Panagou
This paper introduces the notion of an Input Constrained Control Barrier Function (ICCBF), as a method to synthesize safety-critical controllers for non-linear control affine syste…