80 citations · 102 across the 18 of their papers we have counts for
6 papers · 1 filter
Learning for Layered Safety-Critical Control with Predictive Control Barrier Functions
William D. Compton, Max H. Cohen, Aaron D. Ames
Safety filters leveraging control barrier functions (CBFs) are highly effective for enforcing safe behavior on complex systems. It is often easier to synthesize CBFs for a Reduced…
Rectified Control Barrier Functions for High-Order Safety Constraints
Pio Ong, Max H. Cohen, Tamas G. Molnar +1
This paper presents a novel approach for synthesizing control barrier functions (CBFs) from high relative degree safety constraints: Rectified CBFs (ReCBFs). We begin by discussing…
Safety-Critical Controller Synthesis with Reduced-Order Models
Max H. Cohen, Noel Csomay-Shanklin, William D. Compton +2
Reduced-order models (ROMs) provide lower dimensional representations of complex systems, capturing their salient features while simplifying control design. Building on previous wo…
A Contract Theory for Layered Control Architectures
Manuel Mazo, Will Compton, Max H. Cohen +1
Autonomous systems typically leverage layered control architectures with a combination of discrete and continuous models operating at different timescales. As a result, layered sys…
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…
Safety-Critical Control for Autonomous Systems: Control Barrier Functions via Reduced-Order Models
Max H. Cohen, Tamas G. Molnar, Aaron D. Ames
Modern autonomous systems, such as flying, legged, and wheeled robots, are generally characterized by high-dimensional nonlinear dynamics, which presents challenges for model-based…