15 papers
Robust Adaptive Backup Control Barrier Functions
Ersin DaÅ, 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…
Explicit Control Barrier Function-based Safety Filters and their Resource-Aware Computation
Pol Mestres, Shima Sadat Mousavi, Pio Ong +4
This paper studies the efficient implementation of safety filters that are designed using control barrier functions (CBFs), which minimally modify a nominal controller to render it…
Probabilistic Control Barrier Functions for Systems with State Estimation Uncertainty using Sub-Gaussian Concentration
Kazuya Echigo, David E. J. van Wijk, Pol Mestres +3
Safety-critical control systems, such as spacecraft performing proximity operations, must provide formal safety guarantees despite stochastic uncertainties from state estimation an…
Integral Control Barrier Functions with Input Delay: Prediction, Feasibility, and Robustness
Adam K. Kiss, Ersin Das, Tamas G. Molnar +1
Time delays in feedback control loops can cause controllers to respond too late, and with excessively large corrective actions, leading to unsafe behavior (violation of state const…
Generalizations of Backup Control Barrier Functions: Expansion and Adaptation for Input-Bounded Safety-Critical Control
David E. J. van Wijk, Dohyun Lee, Ersin Das +3
Guaranteeing the safety of nonlinear systems with bounded inputs remains a key challenge in safe autonomy. Backup control barrier functions (bCBFs) provide a powerful mechanism for…
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…