1 citations · 1 across the 24 of their papers we have counts for
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Integral Control Barrier Functions with Input Delay: Prediction, Feasibility, and Robustness
Adam K. Kiss, Ersin Das, Tamas G. Molnar +1
Time delays in feedback control loops can cause controllers to respond too late, and with excessively large corrective actions, leading to unsafe behavior (violation of state const…
Probabilistic Control Barrier Functions: Safety in Probability for Discrete-Time Stochastic Systems
Pol Mestres, Blake Werner, Ryan K. Cosner +1
Control systems operating in the real world face countless sources of unpredictable uncertainties. These random disturbances can render deterministic guarantees inapplicable and ca…
A Layered Control Perspective on Legged Locomotion: Embedding Reduced Order Models via Hybrid Zero Dynamics
Sergio A. Esteban, Max H. Cohen, Adrian B. Ghansah +1
Reduced-order models (ROMs) provide a powerful means of synthesizing dynamic walking gaits on legged robots. Yet this approach lacks the formal guarantees enjoyed by methods that u…