6 citations · 7 across the 18 of their papers we have counts for
22 papers
Regions of Attraction of CBF-Based Safety Filters for Stable Planar Linear Systems
Adam K. Kiss, Pol Mestres, Andras Bartfai +2
In this paper we study the dynamical properties induced by safety filters based on control barrier functions (CBFs). These are obtained by minimally modifying a nominal controller…
Optimal Decay Matrix Control Barrier Functions: Soundness and Completeness for Matrix Safety Constraints
Samuel G. Gessow, Albert Wu, Aaron D. Ames +1
Many safety requirements, such as keeping a manipulator away from kinematic singularities, a network connected, or a system observable, amount to keeping a state-dependent matrix p…
Filtering for Liveness: Recurrence via Backup Reachability Control Barrier Functions
David E. J. van Wijk, Pio Ong, Aaron D. Ames +1
Liveness requires a dynamical system to repeatedly accomplish a desired objective over time. In this work, we consider a particular form of liveness known as recurrence, which requ…
Functional Observers for Output-Feedback Safety with High-Order Control Barrier Functions
Shima Sadat Mousavi, Pol Mestres, Aaron D. Ames
This paper studies output-feedback safety filtering for linear systems using high-order control barrier functions (HOCBFs) when the full state is unavailable. Since the HOCBF condi…
Backup Control Barrier Function Synthesis using Sum-of-Squares Reachability
Jungbae Chun, Shima Sadat Mousavi, David E. J. van Wijk +3
Backup control barrier functions (bCBFs) enforce safety for input-constrained nonlinear systems using a pre-certified backup set and controller, but their performance depends stron…
Safe Stabilizing Linear Feedback: Necessary and Sufficient Conditions, Optimality, and Margins
Pol Mestres, Shima Sadat Mousavi, Pio Ong +1
Control barrier functions (CBFs) have become an important controller design tool for autonomous systems subject to safety constraints. Despite their popularity, recent works have s…
Stability Analysis in Multi-Constraint Safety Filters for Linear Systems
Shima Sadat Mousavi, Pol Mestres, Aaron D. Ames
Multi-constraint safety filters based on control barrier functions for linear systems with affine state constraints yield continuous piecewise-affine closed-loop dynamics and may i…
Output Feedback Backup Control Barrier Functions: Safety Guarantees Under Input Bounds and State Estimation Error
David E. J. van Wijk, Tamas G. Molnar, Samuel Coogan +3
Guaranteeing the safety of controllers is vital for real-world applications, but is markedly difficult when the states are not perfectly known and when the control inputs are bound…
Safety Filtering with an Infinite Number of Constraints
Max H. Cohen, Pio Ong, Pol Mestres +1
Control barrier functions (CBFs) provide a rigorous framework for designing controllers enforcing safety constraints. While CBF theory is well-developed for a finite number of safe…
Probabilistic Control Barrier Functions for Systems with State Estimation Uncertainty using Sub-Gaussian Concentration
Kazuya Echigo, David E. J. van Wijk, Pol Mestres +3
Safety-critical control systems, such as spacecraft performing proximity operations, must provide formal safety guarantees despite stochastic uncertainties from state estimation an…
Hybrid Systems as Coalgebras: Lyapunov Morphisms for Zeno Stability
Joe Moeller, Aaron D. Ames
Hybrid dynamical systems exhibit a diverse array of stability phenomena, each currently addressed by separate Lyapunov-like results. We show that these results are all instances of…
Collaborative Altruistic Safety in Coupled Multi-Agent Systems
Brooks A. Butler, Xiao Tan, Aaron D. Ames +1
This paper presents a novel framework for ensuring safety in dynamically coupled multi-agent systems through collaborative control. Drawing inspiration from ecological models of al…
Feasibility and Explicit Safety Filters for Control Barrier Functions in Linear Systems
Shima Sadat Mousavi, Max H. Cohen, Pol Mestres +1
Safety filters based on control barrier functions (CBFs) and high-order control barrier functions (HOCBFs) are commonly implemented through quadratic programs (QPs), which may beco…
Stability Margins of CBF-QP Safety Filters: Analysis and Synthesis
Shima Sadat Mousavi, Pol Mestres, Aaron D. Ames
Control barrier function (CBF)-QP safety filters enforce safety by minimally modifying a nominal controller. While prior work has mainly addressed robustness of safety under uncert…
SafeSpace: Aggregating Safe Sets from Backup Control Barrier Functions under Input Constraints
Pio Ong, David E. J. van Wijk, Massimiliano de Sa +2
Control barrier functions (CBFs) provide a principled framework for enforcing safety in control systems -- yet the certified safe operating region in practice is often conservative…
High-Order Matrix Control Barrier Functions: Well-Posedness and Feasibility via Matrix Relative Degree
Samuel G. Gessow, Pio Ong, Aaron D. Ames +1
Control barrier functions (CBFs) provide an effective framework for enforcing safety in dynamical systems with scalar constraints. However, many safety constraints are more natural…
Steering with Contingencies: Combinatorial Stabilization and Reach-Avoid Filters
Yana Lishkova, Pio Ong, Sander Tonkens +2
In applications such as autonomous landing and navigation, it is often desirable to steer toward a target while retaining the ability to divert to at least (out of ) alterna…
Safety Guardrails in the Sky: Realizing Control Barrier Functions on the VISTA F-16 Jet
Andrew W. Singletary, Max H. Cohen, Tamas G. Molnar +1
The advancement of autonomous systems -- from legged robots to self-driving vehicles and aircraft -- necessitates executing increasingly high-performance and dynamic motions withou…
Dynamical Properties of Safety Filters for Linear Systems and Affine Control Barrier Functions
Pol Mestres, Shima Sadat Mousavi, Aaron D. Ames
This letter studies the dynamical properties of safety filters designed based on Control Barrier Functions (CBF). This mechanism, which is popular in safety-critical applications,…
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…
Flow-Based Synthesis of Reactive Tests for Discrete Decision-Making Systems with Temporal Logic Specifications
Josefine B. Graebener, Apurva S. Badithela, Denizalp Goktas +4
Designing tests to evaluate if a given autonomous system satisfies complex specifications is challenging due to the complexity of these systems. This work proposes a flow-based app…
Specifying and Analyzing Networked and Layered Control Systems Operating on Multiple Clocks
Inigo Incer, Noel Csomay-Shanklin, Aaron Ames +1
We consider the problem of reasoning about networked and layered control systems using assume-guarantee specifications. As these systems are formed by the interconnection of compon…