Safe control with learned certificates: A survey of neural lyapunov, barrier, and contraction methods for robotics and control
Learning-enabled control systems have demonstrated impressive empirical performance on
challenging control problems in robotics, but this performance comes at the cost of reduced …
challenging control problems in robotics, but this performance comes at the cost of reduced …
Learning safe control for multi-robot systems: Methods, verification, and open challenges
In this survey, we review the recent advances in control design methods for robotic multi-
agent systems (MAS), focusing on learning-based methods with safety considerations. We …
agent systems (MAS), focusing on learning-based methods with safety considerations. We …
Safe control with learned certificates: A survey of neural lyapunov, barrier, and contraction methods
Learning-enabled control systems have demonstrated impressive empirical performance on
challenging control problems in robotics, but this performance comes at the cost of reduced …
challenging control problems in robotics, but this performance comes at the cost of reduced …
Gcbf+: A neural graph control barrier function framework for distributed safe multi-agent control
Distributed, scalable, and safe control of large-scale multi-agent systems (MAS) is a
challenging problem. In this paper, we design a distributed framework for safe multi-agent …
challenging problem. In this paper, we design a distributed framework for safe multi-agent …
Safety-critical model reference adaptive control of switched nonlinear systems with unsafe subsystems: A state-dependent switching approach
C Huang, L Long - IEEE Transactions on Cybernetics, 2022 - ieeexplore.ieee.org
In this article, a novel safety-critical model reference adaptive control approach is
established to solve the safety control problem of switched uncertain nonlinear systems …
established to solve the safety control problem of switched uncertain nonlinear systems …
Safe Reinforcement Learning-Based Motion Planning for Functional Mobile Robots Suffering Uncontrollable Mobile Robots
An increasing number of Autonomous Mobile Robots (AMRs) are used in warehouses and
factories in recent years. The risk of some of the AMRs being out of control is surging …
factories in recent years. The risk of some of the AMRs being out of control is surging …
Collision avoidance for elliptical agents with control barrier function utilizing supporting lines
This paper presents a collision avoidance method for elliptical agents traveling in a two-
dimensional space. We first formulate a separation condition for two elliptical agents utilizing …
dimensional space. We first formulate a separation condition for two elliptical agents utilizing …
Distributed coverage hole prevention for visual environmental monitoring with quadcopters via nonsmooth control barrier functions
This article proposes a distributed coverage control strategy for quadcopters equipped with
downward-facing cameras that prevents the appearance of unmonitored areas in between …
downward-facing cameras that prevents the appearance of unmonitored areas in between …
[HTML][HTML] Reinforcement Learning-Based Decentralized Safety Control for Constrained Interconnected Nonlinear Safety-Critical Systems
C Qin, Y Wu, J Zhang, T Zhu - Entropy, 2023 - mdpi.com
This paper addresses the problem of decentralized safety control (DSC) of constrained
interconnected nonlinear safety-critical systems under reinforcement learning strategies …
interconnected nonlinear safety-critical systems under reinforcement learning strategies …
Learning discrete-time uncertain nonlinear systems with probabilistic safety and stability constraints
This paper presents a discrete-time dynamical system model learning method from
demonstration while providing probabilistic guarantees on the safety and stability of the …
demonstration while providing probabilistic guarantees on the safety and stability of the …