6 citations · 7 across the 18 of their papers we have counts for
5 papers · 1 filter
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…
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…
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…
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…
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,…