11 papers
HALO: Hybrid Auto-encoded Locomotion with Learned Latent Dynamics, Poincaré Maps, and Regions of Attraction
Blake Werner, Sergio A. Esteban, Massimiliano De Sa +2
Reduced-order models are powerful for analyzing and controlling high-dimensional dynamical systems. Yet constructing these models for complex hybrid systems such as legged robots r…
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…
High Order Tuners for Adaptive Safety of Robotic Systems
Mohammad Mirtaba, Max H. Cohen
The combination of control barrier functions (CBFs) and adaptive control -- a framework referred to as adaptive safety -- has proven to be a powerful paradigm for safety-critical c…
Structure, Feasibility, and Explicit Safety Filters for 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 often implemented through quadratic programs (QPs). In general, espec…
Safety Guardrails in the Sky: Realizing Control Barrier Functions on the VISTA F-16 Jet
Andrew W. Singletary, Max H. Cohen, Tamas G. Molnar +1
The advancement of autonomous systems -- from legged robots to self-driving vehicles and aircraft -- necessitates executing increasingly high-performance and dynamic motions withou…
Input-to-State Safe Backstepping: Robust Safety-Critical Control with Unmatched Uncertainties
Max H. Cohen, Pio Ong, Aaron D. Ames
Guaranteeing safety in the presence of unmatched disturbances -- uncertainties that cannot be directly canceled by the control input -- remains a key challenge in nonlinear control…