80 citations · 100 across the 35 of their papers we have counts for
9 papers · 1 filter
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…
Safety-critical Locomotion of Biped Robots in Infeasible Paths: Overcoming Obstacles during Navigation toward Destination
Jaemin Lee, Min Dai, Jeeseop Kim +1
This paper proposes a safety-critical locomotion control framework employed for legged robots exploring through infeasible path in obstacle-rich environments. Our research focus is…
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…
Dynamic Walking on Highly Underactuated Point Foot Humanoids: Closing the Loop between HZD and HLIP
Adrian B. Ghansah, Jeeseop Kim, Kejun Li +1
Realizing bipedal locomotion on humanoid robots with point feet is especially challenging due to their highly underactuated nature, high degrees of freedom, and hybrid dynamics res…
Safety-critical Autonomous Inspection of Distillation Columns using Quadrupedal Robots Equipped with Roller Arms
Jaemin Lee, Jeeseop Kim, Aaron D. Ames
This paper proposes a comprehensive framework designed for the autonomous inspection of complex environments, with a specific focus on multi-tiered settings such as distillation co…
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…
Towards a Theory of Control Architecture: A quantitative framework for layered multi-rate control
Nikolai Matni, Aaron D. Ames, John C. Doyle
This paper focuses on the need for a rigorous theory of layered control architectures (LCAs) for complex engineered and natural systems, such as power systems, communication networ…