5 papers · 1 filter
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…
Safety-Critical Control with Bounded Inputs: A Closed-Form Solution for Backup Control Barrier Functions
David E. J. van Wijk, Ersin Das, Tamas G. Molnar +2
Verifying the safety of controllers is critical for many applications, but is especially challenging for systems with bounded inputs. Backup control barrier functions (bCBFs) offer…
Activated Backstepping with Control Barrier Functions for the Safe Navigation of Automated Vehicles
Laszlo Gacsi, Max H. Cohen, Tamas G. Molnar
This paper introduces a novel safety-critical control method through the synthesis of control barrier functions (CBFs) for systems with high-relative-degree safety constraints. By…
Navigating Polytopes with Safety: A Control Barrier Function Approach
Tamas G. Molnar
Collision-free motion is a fundamental requirement for many autonomous systems. This paper develops a safety-critical control approach for the collision-free navigation of polytope…
Uncertainty Estimators for Robust Backup Control Barrier Functions
David E. J. van Wijk, Ersin Das, Anil Alan +5
Designing safe controllers is crucial and notoriously challenging for input-constrained safety-critical control systems. Backup control barrier functions offer an approach for the…