24 papers
Safe-SAGE: Social-Semantic Adaptive Guidance for Safe Engagement through Laplace-Modulated Poisson Safety Functions
Lizhi Yang, Ryan M. Bena, Meg Wilkinson +4
Traditional safety-critical control methods, such as control barrier functions, suffer from semantic blindness, exhibiting the same behavior around obstacles regardless of contextu…
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…
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…
Pushing the Limits of Pulse Shape Discrimination in a Large Liquid Xenon Detector
D. S. Akerib, A. K. Al Musalhi, F. Alder +213
The LUX-ZEPLIN (LZ) experiment is a direct-detection dark matter experiment, optimized to search for weakly interacting massive particles (WIMPs) through WIMP-nucleon interactions.…
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…