4 papers
Backup Control Barrier Function Synthesis using Sum-of-Squares Reachability
Jungbae Chun, Shima Sadat Mousavi, David E. J. van Wijk +3
Backup control barrier functions (bCBFs) enforce safety for input-constrained nonlinear systems using a pre-certified backup set and controller, but their performance depends stron…
Robust Adaptive Backup Control Barrier Functions
Ersin Daş, David E. J. van Wijk, Tamas G. Molnar +2
We propose a notion of robust adaptive backup control barrier functions for nonlinear control affine systems with parametric uncertainty in both the drift dynamics and actuation ma…
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…
Run Time Assured Reinforcement Learning for Six Degree-of-Freedom Spacecraft Inspection
Kyle Dunlap, Kochise Bennett, David van Wijk +2
The trial and error approach of reinforcement learning (RL) results in high performance across many complex tasks, but it can also lead to unsafe behavior. Run time assurance (RTA)…