80 citations · 100 across the 35 of their papers we have counts for
3 papers · 2 filters
Generative Modeling of Residuals for Real-Time Risk-Sensitive Safety with Discrete-Time Control Barrier Functions
Ryan K. Cosner, Igor Sadalski, Jana K. Woo +2
A key source of brittleness for robotic systems is the presence of model uncertainty and external disturbances. Most existing approaches to robust control either seek to bound the…
Safety-Critical Control of Nonholonomic Vehicles in Dynamic Environments using Velocity Obstacles
Aurora Haraldsen, Martin S. Wiig, Aaron D. Ames +1
This paper considers collision avoidance for vehicles with first-order nonholonomic constraints maintaining nonzero forward speeds, moving within dynamic environments. We leverage…
Sample-and-Hold Safety with Control Barrier Functions
Gilbert Bahati, Pio Ong, Aaron D. Ames
A common assumption on the deployment of safeguarding controllers on the digital platform is that high sampling frequency translates to a small violation of safety. This paper inve…