80 citations · 100 across the 35 of their papers we have counts for
15 papers · 1 filter
Explicit Control Barrier Function-based Safety Filters and their Resource-Aware Computation
Pol Mestres, Shima Sadat Mousavi, Pio Ong +4
This paper studies the efficient implementation of safety filters that are designed using control barrier functions (CBFs), which minimally modify a nominal controller to render it…
Risk-Aware Safety Filters with Poisson Safety Functions and Laplace Guidance Fields
Gilbert Bahati, Ryan M. Bena, Meg Wilkinson +3
Robotic systems navigating in real-world settings require a semantic understanding of their environment to properly determine safe actions. This work aims to develop the mathematic…
From Bundles to Backstepping: Geometric Control Barrier Functions for Safety-Critical Control on Manifolds
Massimiliano de Sa, Pio Ong, Aaron D. Ames
Control barrier functions (CBFs) have a well-established theory in Euclidean spaces, yet still lack general formulations and constructive synthesis tools for systems evolving on ma…
Combinatorial Control Barrier Functions: Nested Boolean and p-choose-r Compositions of Safety Constraints
Pio Ong, Haejoon Lee, Tamas G. Molnar +2
This paper investigates the problem of composing multiple control barrier functions (CBFs) -- and matrix control barrier functions (MCBFs) -- through logical and combinatorial oper…
Matrix Control Barrier Functions
Pio Ong, Yicheng Xu, Ryan M. Bena +2
This paper generalizes the control barrier function framework by replacing scalar-valued functions with matrix-valued ones. Specifically, we develop barrier conditions for safe set…
Safety Under State Uncertainty: Robustifying Control Barrier Functions
Rahal Nanayakkara, Aaron D. Ames, Paulo Tabuada
Safety-critical control is a crucial aspect of modern systems, and Control Barrier Functions (CBFs) have gained popularity as the framework of choice for ensuring safety. However,…
Safe Navigation under State Uncertainty: Online Adaptation for Robust Control Barrier Functions
Ersin Das, Rahal Nanayakkara, Xiao Tan +4
Measurements and state estimates are often imperfect in control practice, posing challenges for safety-critical applications, where safety guarantees rely on accurate state informa…
On the Properties of Optimal-Decay Control Barrier Functions
Pio Ong, Max H. Cohen, Tamas G. Molnar +1
Control barrier functions provide a powerful means for synthesizing safety filters that ensure safety framed as forward set invariance. Key to CBFs' effectiveness is the simple ine…
Categorical Lyapunov Theory II: Stability of Systems
Aaron D. Ames, Sébastien Mattenet, Joe Moeller
Lyapunov's theorem provides a foundational characterization of stable equilibrium points in dynamical systems. In this paper, we develop a framework for stability for F-coalgebras.…
Secure Safety Filter: Towards Safe Flight Control under Sensor Attacks
Xiao Tan, Junior Sundar, Renzo Bruzzone +5
Modern autopilot systems are prone to sensor attacks that can jeopardize flight safety. To mitigate this risk, we proposed a modular solution: the secure safety filter, which exten…
Secure Safety Filter Design for Sampled-data Nonlinear Systems under Sensor Spoofing Attacks
Xiao Tan, Pio Ong, Paulo Tabuada +1
This paper presents a secure safety filter design for nonlinear systems under sensor spoofing attacks. Existing approaches primarily focus on linear systems which limits their appl…
Dynamic Safety in Complex Environments: Synthesizing Safety Filters with Poisson's Equation
Gilbert Bahati, Ryan M. Bena, Aaron D. Ames
Synthesizing safe sets for robotic systems operating in complex and dynamically changing environments is a challenging problem. Solving this problem can enable the construction of…
Control Barrier Function Synthesis for Nonlinear Systems with Dual Relative Degree
Gilbert Bahati, Ryan K. Cosner, Max H. Cohen +2
Control barrier functions (CBFs) are a powerful tool for synthesizing safe control actions; however, constructing CBFs remains difficult for general nonlinear systems. In this work…
Computationally Efficient Safe Control of Linear Systems under Severe Sensor Attacks
Xiao Tan, Pio Ong, Paulo Tabuada +1
Cyber-physical systems are prone to sensor attacks that can compromise safety. A common approach to synthesizing controllers robust to sensor attacks is secure state reconstruction…
Categorical Lyapunov Theory I: Stability of Flows
Aaron D. Ames, Joe Moeller, Paulo Tabuada
Lyapunov's theorem provides a fundamental characterization of the stability of dynamical systems. This paper presents a categorical framework for Lyapunov theory, generalizing stab…