80 citations · 100 across the 35 of their papers we have counts for
6 papers · 1 filter
Safety-Critical Coordination of Legged Robots via Layered Controllers and Forward Reachable Set based Control Barrier Functions
Jeeseop Kim, Jaemin Lee, Aaron D. Ames
This paper presents a safety-critical approach to the coordination of robots in dynamic environments. To this end, we leverage control barrier functions (CBFs) with the forward rea…
A Data-driven Method for Safety-critical Control: Designing Control Barrier Functions from State Constraints
Jaemin Lee, Jeeseop Kim, Aaron D. Ames
This paper addresses the challenge of integrating explicit hard constraints into the control barrier function (CBF) framework for ensuring safety in autonomous systems, including r…
Safety-critical Control of Quadrupedal Robots with Rolling Arms for Autonomous Inspection of Complex Environments
Jaemin Lee, Jeeseop Kim, Wyatt Ubellacker +2
This paper presents a safety-critical control framework tailored for quadruped robots equipped with a roller arm, particularly when performing locomotive tasks such as autonomous r…
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…