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Output Feedback Backup Control Barrier Functions: Safety Guarantees Under Input Bounds and State Estimation Error
David E. J. van Wijk, Tamas G. Molnar, Samuel Coogan +3
Guaranteeing the safety of controllers is vital for real-world applications, but is markedly difficult when the states are not perfectly known and when the control inputs are bound…
Differentiable Invariant Sets for Hybrid Limit Cycles with Application to Legged Robots
Varun Madabushi, Akash Harapanahalli, Samuel Coogan +1
For hybrid systems exhibiting periodic behavior, analyzing the invariant set containing the limit cycle is a natural way to study the robustness of the closed-loop system. However,…
Automatic and Scalable Safety Verification using Interval Reachability with Subspace Sampling
Brendan Gould, Akash Harapanahalli, Samuel Coogan
Interval refinement is a technique for reducing the conservatism of traditional interval based reachability methods by lifting the system to a higher dimension using new auxiliary…
A Linear Differential Inclusion for Contraction Analysis to Known Trajectories
Akash Harapanahalli, Samuel Coogan
Infinitesimal contraction analysis provides exponential convergence rates between arbitrary pairs of trajectories of a system by studying the system's linearization. An essentially…
A Global Coordinate-Free Approach to Invariant Contraction on Homogeneous Manifolds
Akash Harapanahalli, Samuel Coogan
In this work, we provide a global condition for contraction with respect to an invariant Riemannian metric on reductive homogeneous spaces. Using left-invariant frames, vector fiel…
Disturbance-Robust Backup Control Barrier Functions: Safety Under Uncertain Dynamics
David E. J. van Wijk, Samuel Coogan, Tamas G. Molnar +2
Obtaining a controlled invariant set is crucial for safety-critical control with control barrier functions (CBFs) but is non-trivial for complex nonlinear systems and constraints.…