13 papers
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…
Functional Observers for Output-Feedback Safety with High-Order Control Barrier Functions
Shima Sadat Mousavi, Pol Mestres, Aaron D. Ames
This paper studies output-feedback safety filtering for linear systems using high-order control barrier functions (HOCBFs) when the full state is unavailable. Since the HOCBF condi…
Safe Stabilizing Linear Feedback: Necessary and Sufficient Conditions, Optimality, and Margins
Pol Mestres, Shima Sadat Mousavi, Pio Ong +1
Control barrier functions (CBFs) have become an important controller design tool for autonomous systems subject to safety constraints. Despite their popularity, recent works have s…
Stability Analysis in Multi-Constraint Safety Filters for Linear Systems
Shima Sadat Mousavi, Pol Mestres, Aaron D. Ames
Multi-constraint safety filters based on control barrier functions for linear systems with affine state constraints yield continuous piecewise-affine closed-loop dynamics and may i…
Safety Filtering with an Infinite Number of Constraints
Max H. Cohen, Pio Ong, Pol Mestres +1
Control barrier functions (CBFs) provide a rigorous framework for designing controllers enforcing safety constraints. While CBF theory is well-developed for a finite number of safe…
Probabilistic Control Barrier Functions for Systems with State Estimation Uncertainty using Sub-Gaussian Concentration
Kazuya Echigo, David E. J. van Wijk, Pol Mestres +3
Safety-critical control systems, such as spacecraft performing proximity operations, must provide formal safety guarantees despite stochastic uncertainties from state estimation an…
Feasibility and Explicit Safety Filters for Control Barrier Functions in Linear Systems
Shima Sadat Mousavi, Max H. Cohen, Pol Mestres +1
Safety filters based on control barrier functions (CBFs) and high-order control barrier functions (HOCBFs) are commonly implemented through quadratic programs (QPs), which may beco…
Stability Margins of CBF-QP Safety Filters: Analysis and Synthesis
Shima Sadat Mousavi, Pol Mestres, Aaron D. Ames
Control barrier function (CBF)-QP safety filters enforce safety by minimally modifying a nominal controller. While prior work has mainly addressed robustness of safety under uncert…
Safe Policy Optimization via Control Barrier Function-based Safety Filters
Yiting Chen, Pol Mestres, Emiliano Dall'Anese +1
Control barrier function (CBF)-based safety filters provide a systematic way to enforce state constraints, but they can significantly alter the closed-loop dynamics induced by a no…
Dynamical Properties of Safety Filters for Linear Systems and Affine Control Barrier Functions
Pol Mestres, Shima Sadat Mousavi, Aaron D. Ames
This letter studies the dynamical properties of safety filters designed based on Control Barrier Functions (CBF). This mechanism, which is popular in safety-critical applications,…
Explicit Control Barrier Function-based Safety Filters and their Resource-Aware Computation
Pol Mestres, Shima Sadat Mousavi, Pio Ong +4
This paper studies the efficient implementation of safety filters that are designed using control barrier functions (CBFs), which minimally modify a nominal controller to render it…
Risk-Aware Safety Filters with Poisson Safety Functions and Laplace Guidance Fields
Gilbert Bahati, Ryan M. Bena, Meg Wilkinson +3
Robotic systems navigating in real-world settings require a semantic understanding of their environment to properly determine safe actions. This work aims to develop the mathematic…
Probabilistic Control Barrier Functions: Safety in Probability for Discrete-Time Stochastic Systems
Pol Mestres, Blake Werner, Ryan K. Cosner +1
Control systems operating in the real world face countless sources of unpredictable uncertainties. These random disturbances can render deterministic guarantees inapplicable and ca…