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eess.SY2026
A Recursive CBF Framework for Safety under State Uncertainty
Rahal Nanayakkara, Aaron D. Ames, Paulo Tabuada
The practical implementation of Control Barrier Functions (CBFs) for safety-critical control is often hindered by uncertainty in the knowledge of the state. While existing robust C…
eess.SY2026
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…