3 papers
eess.SY2026
Enforcing Mixed State-Input Constraints with Multiple Backup Control Barrier Functions: A Projection-based Approach
Laszlo Gacsi, Adam K. Kiss, Ersin Das +1
Ensuring the safety of control systems often requires the satisfaction of constraints on states (such as position or velocity), control inputs (such as force), and a mixture of sta…
eess.SY2025
Braking within Barriers: Constructive Safety-Critical Control for Input-Constrained Vehicles via the Backup Set Method
Laszlo Gacsi, Adam K. Kiss, Tamas G. Molnar
This paper presents a safety-critical control framework to maintain bounded lateral motions for vehicles braking on asymmetric surfaces. We synthesize a brake controller that assis…
math.DS2025
Activated Backstepping with Control Barrier Functions for the Safe Navigation of Automated Vehicles
Laszlo Gacsi, Max H. Cohen, Tamas G. Molnar
This paper introduces a novel safety-critical control method through the synthesis of control barrier functions (CBFs) for systems with high-relative-degree safety constraints. By…