67 citations · 135 across the 21 of their papers we have counts for
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cs.RO2022★ 67 cited
Safe and Robust Observer-Controller Synthesis using Control Barrier Functions
Devansh R. Agrawal, Dimitra Panagou
This paper addresses the synthesis of safety-critical controllers using estimate feedback. We propose an observer-controller interconnection to ensure that the nonlinear system rem…
cs.RO2022★ 4 cited
gatekeeper: Online Safety Verification and Control for Nonlinear Systems in Dynamic Environments
Devansh R Agrawal, Ruichang Chen, Dimitra Panagou
This paper presents the gatekeeper algorithm, a real-time and computationally-lightweight method that ensures that trajectories of a nonlinear system satisfy safety constraints des…