5 papers · 1 filter
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…
Layered Safety: Enhancing Autonomous Collision Avoidance via Multistage CBF Safety Filters
Erina Yamaguchi, Ryan M. Bena, Gilbert Bahati +1
This paper presents a general end-to-end framework for constructing robust and reliable layered safety filters that can be leveraged to perform dynamic collision avoidance over a b…
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…
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…
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…