80 citations · 102 across the 18 of their papers we have counts for
5 papers · 1 filter
Compatibility of Multiple Control Barrier Functions for Constrained Nonlinear Systems
Max H. Cohen, Eugene Lavretsky, Aaron D. Ames
Control barrier functions (CBFs) are a powerful tool for the constrained control of nonlinear systems; however, the majority of results in the literature focus on systems subject t…
A Layered Control Perspective on Legged Locomotion: Embedding Reduced Order Models via Hybrid Zero Dynamics
Sergio A. Esteban, Max H. Cohen, Adrian B. Ghansah +1
Reduced-order models (ROMs) provide a powerful means of synthesizing dynamic walking gaits on legged robots. Yet this approach lacks the formal guarantees enjoyed by methods that u…
Activated Backstepping with Control Barrier Functions for the Safe Navigation of Automated Vehicles
Laszlo Gacsi, Max H. Cohen, Tamas G. Molnar
This paper introduces a novel safety-critical control method through the synthesis of control barrier functions (CBFs) for systems with high-relative-degree safety constraints. By…
On the Properties of Optimal-Decay Control Barrier Functions
Pio Ong, Max H. Cohen, Tamas G. Molnar +1
Control barrier functions provide a powerful means for synthesizing safety filters that ensure safety framed as forward set invariance. Key to CBFs' effectiveness is the simple ine…
Control Barrier Function Synthesis for Nonlinear Systems with Dual Relative Degree
Gilbert Bahati, Ryan K. Cosner, Max H. Cohen +2
Control barrier functions (CBFs) are a powerful tool for synthesizing safe control actions; however, constructing CBFs remains difficult for general nonlinear systems. In this work…