3 papers
eess.SY2026
Port-Transversal Barriers: Graph-Theoretic Safety for Port-Hamiltonian Systems
Chi Ho Leung, Philip E. Paré
We study port-Hamiltonian systems with energy functions that split into local storage terms. From the interconnection and dissipation structure, we construct a graph on the energy…
eess.SY2025
Bayesian Safety Guarantees for Port-Hamiltonian Systems with Learned Energy Functions
Chi Ho Leung, Philip E. Paré
Control barrier functions for port-Hamiltonian systems inherit model uncertainty when the Hamiltonian is learned from data. We show how to propagate this uncertainty into a safety…
cs.RO2024
Collaborative Safety-Critical Formation Control with Obstacle Avoidance
Brooks A. Butler, Chi Ho Leung, Philip E. Paré
This work explores a collaborative method for ensuring safety in multi-agent formation control problems. We formulate a control barrier function (CBF) based safety filter control l…