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eess.SY2024
Finding Control Invariant Sets via Lipschitz Constants of Linear Programs
Matti Vahs, Shaohang Han, Jana Tumova
Control invariant sets play an important role in safety-critical control and find broad application in numerous fields such as obstacle avoidance for mobile robots. However, findin…
cs.RO2024
Forward Invariance in Trajectory Spaces for Safety-critical Control
Matti Vahs, Rafael I. Cabral Muchacho, Florian T. Pokorny +1
Useful robot control algorithms should not only achieve performance objectives but also adhere to hard safety constraints. Control Barrier Functions (CBFs) have been developed to p…