80 citations · 100 across the 35 of their papers we have counts for
40 papers
Lifting Safety Through Reduced-Order Model Architectures: An Invariant Manifold Approach
Massimiliano de Sa, Aaron D. Ames
Reduced-order model architectures are often used to decompose complex safety-critical control design tasks into tractable subproblems. In this paradigm, one must ask: when does the…
Constructive Safety-Critical Control for a Class of Underactuated Systems: A Hierarchical Approach
Massimiliano de Sa, Aaron D. Ames
Underactuated systems with nontrivial geometry are abundant in practical robotic problems. However, little is known about constructive safety-critical control design in the presenc…
A Recursive CBF Framework for Safety under State Uncertainty
Rahal Nanayakkara, Aaron D. Ames, Paulo Tabuada
The practical implementation of Control Barrier Functions (CBFs) for safety-critical control is often hindered by uncertainty in the knowledge of the state. While existing robust C…
A Duality-Based Optimization Formulation of Safe Control Design with State Uncertainties
Xiao Tan, Rahal Nanayakkara, Paulo Tabuada +1
State estimation uncertainty is prevalent in real-world applications, hindering the application of safety-critical control. Existing methods address this by strengthening a Control…
Generalizations of Backup Control Barrier Functions: Expansion and Adaptation for Input-Bounded Safety-Critical Control
David E. J. van Wijk, Dohyun Lee, Ersin Das +3
Guaranteeing the safety of nonlinear systems with bounded inputs remains a key challenge in safe autonomy. Backup control barrier functions (bCBFs) provide a powerful mechanism for…
Topological Obstructions to the Existence of Control Barrier Functions
Massimiliano de Sa, Aaron D. Ames
In 1983, Brockett developed a topological necessary condition for the existence of continuous, asymptotically stabilizing control laws. Building upon recent work on necessary condi…
Pushing the Limits of Pulse Shape Discrimination in a Large Liquid Xenon Detector
D. S. Akerib, A. K. Al Musalhi, F. Alder +208
The LUX-ZEPLIN (LZ) experiment is a direct-detection dark matter experiment, optimized to search for weakly interacting massive particles (WIMPs) through WIMP-nucleon interactions.…
Safe-SAGE: Social-Semantic Adaptive Guidance for Safe Engagement through Laplace-Modulated Poisson Safety Functions
Lizhi Yang, Ryan M. Bena, Meg Wilkinson +4
Traditional safety-critical control methods, such as control barrier functions, suffer from semantic blindness, exhibiting the same behavior around obstacles regardless of contextu…
Layered Safety: Enhancing Autonomous Collision Avoidance via Multistage CBF Safety Filters
Erina Yamaguchi, Ryan M. Bena, Gilbert Bahati +1
This paper presents a general end-to-end framework for constructing robust and reliable layered safety filters that can be leveraged to perform dynamic collision avoidance over a b…
Input-to-State Safe Backstepping: Robust Safety-Critical Control with Unmatched Uncertainties
Max H. Cohen, Pio Ong, Aaron D. Ames
Guaranteeing safety in the presence of unmatched disturbances -- uncertainties that cannot be directly canceled by the control input -- remains a key challenge in nonlinear control…
Explicit Control Barrier Function-based Safety Filters and their Resource-Aware Computation
Pol Mestres, Shima Sadat Mousavi, Pio Ong +4
This paper studies the efficient implementation of safety filters that are designed using control barrier functions (CBFs), which minimally modify a nominal controller to render it…
Risk-Aware Safety Filters with Poisson Safety Functions and Laplace Guidance Fields
Gilbert Bahati, Ryan M. Bena, Meg Wilkinson +3
Robotic systems navigating in real-world settings require a semantic understanding of their environment to properly determine safe actions. This work aims to develop the mathematic…
From Bundles to Backstepping: Geometric Control Barrier Functions for Safety-Critical Control on Manifolds
Massimiliano de Sa, Pio Ong, Aaron D. Ames
Control barrier functions (CBFs) have a well-established theory in Euclidean spaces, yet still lack general formulations and constructive synthesis tools for systems evolving on ma…
Combinatorial Control Barrier Functions: Nested Boolean and p-choose-r Compositions of Safety Constraints
Pio Ong, Haejoon Lee, Tamas G. Molnar +2
This paper investigates the problem of composing multiple control barrier functions (CBFs) -- and matrix control barrier functions (MCBFs) -- through logical and combinatorial oper…
Matrix Control Barrier Functions
Pio Ong, Yicheng Xu, Ryan M. Bena +2
This paper generalizes the control barrier function framework by replacing scalar-valued functions with matrix-valued ones. Specifically, we develop barrier conditions for safe set…
Safety Under State Uncertainty: Robustifying Control Barrier Functions
Rahal Nanayakkara, Aaron D. Ames, Paulo Tabuada
Safety-critical control is a crucial aspect of modern systems, and Control Barrier Functions (CBFs) have gained popularity as the framework of choice for ensuring safety. However,…
Safe Navigation under State Uncertainty: Online Adaptation for Robust Control Barrier Functions
Ersin Das, Rahal Nanayakkara, Xiao Tan +4
Measurements and state estimates are often imperfect in control practice, posing challenges for safety-critical applications, where safety guarantees rely on accurate state informa…
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…
Categorical Lyapunov Theory II: Stability of Systems
Aaron D. Ames, Sébastien Mattenet, Joe Moeller
Lyapunov's theorem provides a foundational characterization of stable equilibrium points in dynamical systems. In this paper, we develop a framework for stability for F-coalgebras.…
Secure Safety Filter: Towards Safe Flight Control under Sensor Attacks
Xiao Tan, Junior Sundar, Renzo Bruzzone +5
Modern autopilot systems are prone to sensor attacks that can jeopardize flight safety. To mitigate this risk, we proposed a modular solution: the secure safety filter, which exten…
Secure Safety Filter Design for Sampled-data Nonlinear Systems under Sensor Spoofing Attacks
Xiao Tan, Pio Ong, Paulo Tabuada +1
This paper presents a secure safety filter design for nonlinear systems under sensor spoofing attacks. Existing approaches primarily focus on linear systems which limits their appl…
Dynamic Safety in Complex Environments: Synthesizing Safety Filters with Poisson's Equation
Gilbert Bahati, Ryan M. Bena, Aaron D. Ames
Synthesizing safe sets for robotic systems operating in complex and dynamically changing environments is a challenging problem. Solving this problem can enable the construction of…
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…
Computationally Efficient Safe Control of Linear Systems under Severe Sensor Attacks
Xiao Tan, Pio Ong, Paulo Tabuada +1
Cyber-physical systems are prone to sensor attacks that can compromise safety. A common approach to synthesizing controllers robust to sensor attacks is secure state reconstruction…