2 citations · 4 across the 9 of their papers we have counts for
10 papers
A Time-to-Collision Barrier Function Approach to Collision Avoidance for Stochastic Systems
Benedikt Barthel Sorensen, Mitchell Black, Erfaun Noorani +1
Collision avoidance constraints for autonomous systems are typically formulated in position or velocity space, implicitly reacting to geometric proximity. We propose an alternative…
A Temporal Barrier Framework for Collision Avoidance in Multi-Agent Autonomous Aerial Vehicles
Benedikt Barthel Sorensen, Mitchell Black, Erfaun Noorani +1
Operating teams of autonomous aircraft in dynamic, uncertain, and potentially adversarial environments requires safety protocols that are reliable yet selective, and allow agents t…
Belief Space Control of Safety-Critical Systems Under State-Dependent Measurement Noise
Rohan Walia, Mitchell Black, Andrew Schoer +1
Safety-critical control is imperative for deploying autonomous systems in the real world. Control Barrier Functions (CBFs) offer strong safety guarantees when accurate system and s…
Risk-aware MPPI for Stochastic Hybrid Systems
Hardik Parwana, Mitchell Black, Bardh Hoxha +4
Path Planning for stochastic hybrid systems presents a unique challenge of predicting distributions of future states subject to a state-dependent dynamics switching function. In th…
Model Predictive Path Integral Methods with Reach-Avoid Tasks and Control Barrier Functions
Hardik Parwana, Mitchell Black, Georgios Fainekos +3
The rapid advancement of robotics necessitates robust tools for developing and testing safe control architectures in dynamic and uncertain environments. Ensuring safety and reliabi…
CBFKIT: A Control Barrier Function Toolbox for Robotics Applications
Mitchell Black, Georgios Fainekos, Bardh Hoxha +2
This paper introduces CBFKit, a Python/ROS toolbox for safe robotics planning and control under uncertainty. The toolbox provides a general framework for designing control barrier…
Risk-Aware Fixed-Time Stabilization of Stochastic Systems under Measurement Uncertainty
Mitchell Black, Georgios Fainekos, Bardh Hoxha +1
This paper addresses the problem of risk-aware fixed-time stabilization of a class of uncertain, output-feedback nonlinear systems modeled via stochastic differential equations. Fi…
Advances in the Theory of Control Barrier Functions: Addressing Practical Challenges in Safe Control Synthesis for Autonomous and Robotic Systems
Kunal Garg, James Usevitch, Joseph Breeden +4
This tutorial paper presents recent work of the authors that extends the theory of Control Barrier Functions (CBFs) to address practical challenges in the synthesis of safe control…
Feasible Space Monitoring for Multiple Control Barrier Functions with application to Large Scale Indoor Navigation
Hardik Parwana, Mitchell Black, Bardh Hoxha +4
Quadratic programs (QP) subject to multiple time-dependent control barrier function (CBF) based constraints have been used to design safety-critical controllers. However, ensuring…
Safe Control Synthesis for Hybrid Systems through Local Control Barrier Functions
Shuo Yang, Mitchell Black, Georgios Fainekos +3
Control Barrier Functions (CBF) have provided a very versatile framework for the synthesis of safe control architectures for a wide class of nonlinear dynamical systems. Typically,…