80 citations · 100 across the 35 of their papers we have counts for
7 papers · 2 filters
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…
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…