2 citations · 2 across the 6 of their papers we have counts for
7 papers · 1 filter
Regions of Attraction of CBF-Based Safety Filters for Stable Planar Linear Systems
Adam K. Kiss, Pol Mestres, Andras Bartfai +2
In this paper we study the dynamical properties induced by safety filters based on control barrier functions (CBFs). These are obtained by minimally modifying a nominal controller…
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…
Enforcing Mixed State-Input Constraints with Multiple Backup Control Barrier Functions: A Projection-based Approach
Laszlo Gacsi, Adam K. Kiss, Ersin Das +1
Ensuring the safety of control systems often requires the satisfaction of constraints on states (such as position or velocity), control inputs (such as force), and a mixture of sta…
Braking within Barriers: Constructive Safety-Critical Control for Input-Constrained Vehicles via the Backup Set Method
Laszlo Gacsi, Adam K. Kiss, Tamas G. Molnar
This paper presents a safety-critical control framework to maintain bounded lateral motions for vehicles braking on asymmetric surfaces. We synthesize a brake controller that assis…
Control Barrier Functionals: Safety-critical Control for Time Delay Systems
Adam K. Kiss, Tamas G. Molnar, Aaron D. Ames +1
This work presents a theoretical framework for the safety-critical control of time delay systems. The theory of control barrier functions, that provides formal safety guarantees fo…
Input-to-State Safety with Input Delay in Longitudinal Vehicle Control
Tamas G. Molnar, Anil Alan, Adam K. Kiss +2
Safe longitudinal control is discussed for a connected automated truck traveling behind a preceding connected vehicle. A controller is proposed based on control barrier function th…
Safety-Critical Control with Input Delay in Dynamic Environment
Tamas G. Molnar, Adam K. Kiss, Aaron D. Ames +1
Endowing nonlinear systems with safe behavior is increasingly important in modern control. This task is particularly challenging for real-life control systems that must operate saf…