1 citations · 2 across the 10 of their papers we have counts for
18 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…
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…
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…
Input-to-State Safe Backstepping: Robust Safety-Critical Control with Unmatched Uncertainties
Max H. Cohen, Pio Ong, Aaron D. Ames
Guaranteeing safety in the presence of unmatched disturbances -- uncertainties that cannot be directly canceled by the control input -- remains a key challenge in nonlinear control…
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…