Advances in the Theory of Control Barrier Functions: Addressing practical challenges in safe control synthesis for autonomous and robotic systems
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 …
Barrier Functions (CBFs) to address practical challenges in the synthesis of safe controllers …
Risk-aware control for robots with non-gaussian belief spaces
This paper addresses the problem of safety-critical control of autonomous robots,
considering the ubiquitous uncertainties arising from un-modeled dynamics and noisy …
considering the ubiquitous uncertainties arising from un-modeled dynamics and noisy …
Co-Büchi Control Barrier Certificates for Stochastic Control Systems
This paper addresses the problem of synthesizing controllers that enforce properties
expressed by Universal Co-Büchi Automata (UCA) over stochastic control systems. Our …
expressed by Universal Co-Büchi Automata (UCA) over stochastic control systems. Our …
Almost-sure safety guarantees of stochastic zero-control barrier functions do not hold
The 2021 paper" Control barrier functions for stochastic systems" provides theorems that
give almost sure safety guarantees given stochastic zero control barrier function (ZCBF) …
give almost sure safety guarantees given stochastic zero control barrier function (ZCBF) …
Non-smooth control barrier functions for stochastic dynamical systems
Uncertainties arising in various control systems, such as robots that are subject to unknown
disturbances or environmental variations, pose significant challenges for ensuring system …
disturbances or environmental variations, pose significant challenges for ensuring system …
Bounding Stochastic Safety: Leveraging Freedman's Inequality with Discrete-Time Control Barrier Functions
RK Cosner, P Culbertson… - IEEE Control Systems …, 2024 - ieeexplore.ieee.org
When deployed in the real world, safe control methods must be robust to unstructured
uncertainties such as modeling error and external disturbances. Typical robust safety …
uncertainties such as modeling error and external disturbances. Typical robust safety …
CBFKIT: A Control Barrier Function Toolbox for Robotics Applications
This paper introduces CBFKit, a Python/ROS toolbox for safe robotics planning and control
under uncertainty. The toolbox provides a general framework for designing control barrier …
under uncertainty. The toolbox provides a general framework for designing control barrier …
Safe Decentralized Multi-Agent Control using Black-Box Predictors, Conformal Decision Policies, and Control Barrier Functions
We address the challenge of safe control in decentralized multi-agent robotic settings, where
agents use uncertain black-box models to predict other agents' trajectories. We use the …
agents use uncertain black-box models to predict other agents' trajectories. We use the …
Online and Certifiably Correct Visual Odometry and Mapping
DR Agrawal, R Govindjee, J Yu, A Ravikumar… - arXiv preprint arXiv …, 2024 - arxiv.org
This paper proposes two new algorithms for certified perception in safety-critical robotic
applications. The first is a Certified Visual Odometry algorithm, which uses a RGBD camera …
applications. The first is a Certified Visual Odometry algorithm, which uses a RGBD camera …
Model Predictive Path Integral Methods with Reach-Avoid Tasks and Control Barrier Functions
The rapid advancement of robotics necessitates robust tools for developing and testing safe
control architectures in dynamic and uncertain environments. Ensuring safety and reliability …
control architectures in dynamic and uncertain environments. Ensuring safety and reliability …