This tutorial paper presents recent work of the authors that extends the theory of Control
Barrier Functions (CBFs) to address practical challenges in the synthesis of safe controllers …

Robots operating in real world settings must navigate and maintain safety while interacting
with many heterogeneous agents and obstacles. Multi-Agent Control Barrier Functions …

This letter presents conditions for ensuring forward invariance of safe sets under sampled-
data system dynamics with piecewise-constant controllers and fixed time-steps. First, we …

Safety requirements in dynamical systems are commonly enforced with set invariance
constraints over a safe region of the state space. Control barrier functions, which are …

Barrier function-based inequality constraints are a means to enforce safety specifications for
control systems. When used in conjunction with a convex optimization program, they provide …

In this paper, a method to achieve smooth transitions between sequential reachability tasks
for a continuous time mobile robotic system is presented. Control barrier functions provide …

This dissertation presents advances in the design of constrained control laws, specifically
control barrier function (CBF) quadratic program (QP) based control laws, herein called …

Learning-based controllers have recently shown impressive results for different robotic tasks
in well-defined environments, successfully solving a Rubiks cube and sorting objects in a …