3 papers
eess.SY2024
Finding Control Invariant Sets via Lipschitz Constants of Linear Programs
Matti Vahs, Shaohang Han, Jana Tumova
Control invariant sets play an important role in safety-critical control and find broad application in numerous fields such as obstacle avoidance for mobile robots. However, findin…
cs.RO2024
Forward Invariance in Trajectory Spaces for Safety-critical Control
Matti Vahs, Rafael I. Cabral Muchacho, Florian T. Pokorny +1
Useful robot control algorithms should not only achieve performance objectives but also adhere to hard safety constraints. Control Barrier Functions (CBFs) have been developed to p…
cs.RO2023
Belief Control Barrier Functions for Risk-aware Control
Matti Vahs, Christian Pek, Jana Tumova
Ensuring safety in real-world robotic systems is often challenging due to unmodeled disturbances and noisy sensor measurements. To account for such stochastic uncertainties, many r…