3 papers
eess.SY2026
Stochastic Safety-critical Control Compensating Safety Probability for Marine Vessel Tracking
Too Matsuo, Yuki Nishimura, Kenta Hoshino +1
A marine vessel is a nonlinear system subject to irregular disturbances such as wind and waves, which cause tracking errors between the nominal and actual trajectories. In this stu…
eess.SY2026
Collision Avoidance Control for a Two-wheeled Vehicle under Stochastic Vibration using an Almost Sure Control Barrier Function
Taichi Arimura, Yuki Nishimura, Taichi Ikezaki +1
In recent years, many control problems of autonomous mobile robots have been developed. In particular, the robots are required to be safe; that is, they need to be controlled to av…
eess.SY2025
Safety-Critical Control for Discrete-time Stochastic Systems with Flexible Safe Bounds using Affine and Quadratic Control Barrier Functions
Sotaro Fushimi, Kenta Hoshino, Yuki Nishimura
This paper presents a safe controller synthesis of discrete-time stochastic systems using Control Barrier Functions (CBFs). The proposed condition allows the design of a safe contr…