Recent years have seen significant progress in the realm of robot autonomy, accompanied
by the expanding reach of robotic technologies. However, the emergence of new …

Distributed control has emerged as a major focus in the systems and controls area, with
multiagent robotics playing a prominent role both as a canonical instantiation of a system …

Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance,
and planning of the underactuated dynamics of the system. Reliably optimizing for such …

This paper provides an introduction and overview of recent work on control barrier functions
and their use to verify and enforce safety properties in the context of (optimization based) …

We approach the problem of stabilizing a dynamical system while optimizing a cost and
satisfying safety constraints and control limitations. For (nonlinear) affine control systems …

The optimal performance of robotic systems is usually achieved near the limit of state and
input bounds. Model predictive control (MPC) is a prevalent strategy to handle these …

Many safety-critical applications of neural networks, such as robotic control, require safety
guarantees. This article introduces a method for ensuring the safety of learned models for …

Safety critical systems involve the tight coupling between potentially conflicting control
objectives and safety constraints. As a means of creating a formal framework for controlling …

Modern nonlinear control theory seeks to endow systems with properties of stability and
safety, and have been deployed successfully in multiple domains. Despite this success …

This paper presents safety barrier certificates that ensure scalable and provably collision-
free behaviors in multirobot systems by modifying the nominal controllers to formally satisfy …