4 papers
A Mixed-Reality Testbed for Autonomous Vehicles
H. M. Sabbir Ahmad, Ehsan Sabouni, Emrullah Celik +4
We propose a mixed-reality, hardware-in-the-loop (HIL) testbed for autonomous vehicles that seamlessly integrates a physical testbed of mobile robots with a high-fidelity simulatio…
Exact-Time Safety Recovery using Time-Varying Control Barrier Functions with Optimal Barrier Tracking
Yingqing Chen, Christos G. Cassandras, Wei Xiao +1
This paper is motivated by controllers developed for autonomous vehicles which occasionally result into conditions where safety is no longer guaranteed. We develop an exact-time sa…
Event-Triggered Adaptive Taylor-Lagrange Control for Safety-Critical Systems
Shuo Liu, Wei Xiao, Christos G. Cassandras +1
This paper studies safety-critical control for nonlinear systems under sampled-data implementations of the controller. The recently proposed Taylor--Lagrange Control (TLC) method p…
Finite-time Convergent Control Barrier Functions with Feasibility Guarantees
Anni Li, Yingqing Chen, Christos G. Cassandras +1
This paper studies the problem of finite-time convergence to a prescribed safe set for nonlinear systems whose initial states violate the safety constraints. Existing Control Lyapu…