80 citations · 100 across the 35 of their papers we have counts for
5 papers · 2 filters
Rectified Control Barrier Functions for High-Order Safety Constraints
Pio Ong, Max H. Cohen, Tamas G. Molnar +1
This paper presents a novel approach for synthesizing control barrier functions (CBFs) from high relative degree safety constraints: Rectified CBFs (ReCBFs). We begin by discussing…
Hierarchical Event-Triggered Systems: Safe Learning of Quasi-Optimal Deadline Policies
Pio Ong, Manuel Mazo, Aaron D. Ames
We present a hierarchical architecture to improve the efficiency of event-triggered control (ETC) in reducing resource consumption. This paper considers event-triggered systems gen…
Safety of Linear Systems under Severe Sensor Attacks
Xiao Tan, Pio Ong, Paulo Tabuada +1
Cyber-physical systems can be subject to sensor attacks, e.g., sensor spoofing, leading to unsafe behaviors. This paper addresses this problem in the context of linear systems when…
Safety-Critical Control for Autonomous Systems: Control Barrier Functions via Reduced-Order Models
Max H. Cohen, Tamas G. Molnar, Aaron D. Ames
Modern autonomous systems, such as flying, legged, and wheeled robots, are generally characterized by high-dimensional nonlinear dynamics, which presents challenges for model-based…
Collision Avoidance and Geofencing for Fixed-wing Aircraft with Control Barrier Functions
Tamas G. Molnar, Suresh K. Kannan, James Cunningham +3
Safety-critical failures often have fatal consequences in aerospace control. Control systems on aircraft, therefore, must ensure the strict satisfaction of safety constraints, pref…