13 papers · 1 filter
Robust Adaptive Backup Control Barrier Functions
Ersin Daş, David E. J. van Wijk, Tamas G. Molnar +2
We propose a notion of robust adaptive backup control barrier functions for nonlinear control affine systems with parametric uncertainty in both the drift dynamics and actuation ma…
Output Feedback Backup Control Barrier Functions: Safety Guarantees Under Input Bounds and State Estimation Error
David E. J. van Wijk, Tamas G. Molnar, Samuel Coogan +3
Guaranteeing the safety of controllers is vital for real-world applications, but is markedly difficult when the states are not perfectly known and when the control inputs are bound…
Probabilistic Control Barrier Functions for Systems with State Estimation Uncertainty using Sub-Gaussian Concentration
Kazuya Echigo, David E. J. van Wijk, Pol Mestres +3
Safety-critical control systems, such as spacecraft performing proximity operations, must provide formal safety guarantees despite stochastic uncertainties from state estimation an…
SafeSpace: Aggregating Safe Sets from Backup Control Barrier Functions under Input Constraints
Pio Ong, David E. J. van Wijk, Massimiliano de Sa +2
Control barrier functions (CBFs) provide a principled framework for enforcing safety in control systems -- yet the certified safe operating region in practice is often conservative…
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…
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…