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Robustness of Control Barrier Functions for Safety Critical Control
Xiangru Xu, Paulo Tabuada, Jessy W. Grizzle +1
Barrier functions (also called certificates) have been an important tool for the verification of hybrid systems, and have also played important roles in optimization and multi-obje…
Correctness Guarantees for the Composition of Lane Keeping and Adaptive Cruise Control
Xiangru Xu, Jessy W. Grizzle, Paulo Tabuada +1
This paper develops a control approach with correctness guarantees for the simultaneous operation of lane keeping and adaptive cruise control. The safety specifications for these d…
Control Barrier Function Based Quadratic Programs for Safety Critical Systems
Aaron D. Ames, Xiangru Xu, Jessy W. Grizzle +1
Safety critical systems involve the tight coupling between potentially conflicting control objectives and safety constraints. As a means of creating a formal framework for controll…