18 papers · ranked by Valyu relevance
Yana Lishkova, Pio Ong, Sander Tonkens, Sylvia Herbert + 1 more
In applications such as autonomous landing and navigation, it is often desirable to steer toward a target while retaining the ability to divert to at least $r$ (out of $p$) alternative sites if conditions change. In this work, we formalize this combinatorial contingency requirement and develop tractable control filters…
Hayato Dan, Takeshi Hatanaka, Junya Yamauchi, Takumi Shimizu + 1 more
'Masayuki Fujita'] In this paper, we address a persistent object search and surveillance mission for drone networks equipped with onboard cameras, and present a safe control strategy based on control barrier functions The mission for the object search and surveillance in this paper is defined with two subtasks…
Aaron D. Ames, Gennaro Notomista, Y. Wardi, Magnus Egerstedt
—This paper introduces integral control barrier functions (I-CBFs) as a means to enable the safety-critical integral control of nonlinear systems. Importantly, I-CBFs allow for the holistic encoding of both state constraints and input bounds in a single framework. We demonstrate this by applying them to a dynamically…
Andrew J. Taylor, Pio Ong, Tamás G. Molnár, Aaron D. Ames
—Complex control systems are often described in a layered fashion, represented as higher-order systems where the inputs appear after a chain of integrators. While Control Barrier Functions (CBFs) have proven to be powerful tools for safetycritical controller design of nonlinear systems, their application to…
Mohammadreza Davoodi, Asif Iqbal, Joseph M. Cloud, William J. Beksi + 1 more
'Nicholas R. Gans'] In this paper, we present a novel means of control design for probabilistic movement primitives (ProMPs). Our proposed approach makes use of control barrier functions and control Lyapunov functions defined by a ProMP distribution. Thus, a robot may move along a trajectory within the distribution…
Shreenabh Agrawal, Manan Tayal, Aditya Singh, Shishir Kolathaya
— As autonomous systems become increasingly prevalent in daily life, ensuring their safety is paramount. Control Barrier Functions (CBFs) have emerged as an effective tool for guaranteeing safety; however, manually designing them for specific applications remains a significant challenge. With the advent of deep…
Fengxiang Mao, Dongsong Zhang, Liang Xu, Rui Wang + 1 more
This paper addresses the problem of cooperative coverage control for heterogeneous Autonomous Underwater Vehicle (AUV) swarms operating in complex underwater environments. The objective is to achieve optimal coverage of a target region while simultaneously ensuring collision avoidance-both among AUVs and with static…
Aaron D. Ames, Samuel Coogan, Magnus Egerstedt, Gennaro Notomista + 2 more
It is easy to agree that any engineered system should be designed to be safe. In fact, the term safety-critical system is many times used to distinguish those systems for which safety is a major design consideration. But what exactly is safety? How do we define it and how can we design systems to achieve it? The notion…
Vrushabh Zinage, Rohan Chandra, Efstathios Bakolas
— In this paper, we consider the problem of safe control synthesis of general controlled nonlinear systems in the presence of bounded additive disturbances. Towards this aim, we first construct a governing augmented state space model consisting of the equations of motion of the original system, the integral control law…
Shakiba Yaghoubi, Georgios Fainekos, Sriram Sankaranarayanan
Control Barrier Functions (CBF) have been recently utilized in the design of provably safe feedback control laws for nonlinear systems. These feedback control methods typically compute the next control input by solving an online Quadratic Program (QP). Solving QP in real-time can be a computationally expensive process…
Xiao Tan, Wenceslao Shaw Cortez, Dimos V. Dimarogonas
—In this paper, we propose a notion of high-order (zeroing) barrier functions that generalizes the concept of zeroing barrier functions and guarantees set forward invariance by checking their higher order derivatives. The proposed formulation guarantees asymptotic stability of the forward invariant set, which is highly…
Chunbin Qin, Xiaopeng Qiao, Jinguang Wang, Dehua Zhang + 2 more
'Ravi P. Agarwal' 'Maria Alessandra Ragusa'] In this paper, a robust trajectory tracking control method with state constraints and uncertain disturbances on the ground of adaptive dynamic programming (ADP) is proposed for nonlinear systems. Firstly, the augmented system consists of the tracking error and the reference…
Axton Isaly, Brendon C. Allen, Ricardo G. Sanfelice, Warren E. Dixon
Stationary motorized cycling assisted by functional electrical stimulation (FES) is a popular therapy for people with movement impairments. Maximizing volitional contributions from the rider of the cycle can lead to long-term benefits like increased muscular strength and cardiovascular endurance. This paper develops a…
Aliasghar Arab, Seyedreza Mohamadi, Farid Alisafaei, Yashar Mousavi + 1 more
Maintaining blood glucose within a physiologically safe range is critical for people with diabetes, as deviations can lead to acute or chronic complications. Hypoglycemia, in particular, represents an immediate threat and requires prioritized mitigation in autonomous insulin delivery systems. This paper introduces a…
Sanghyeon Lee, Youngjin Park
A circular active noise barrier using a theoretically calculated control filter without real-time adaptation was proposed for noise reduction in a specific outdoor space. A compact circular barrier is used for the movable system to cope with changes in the location of the workspace, and noise in a wide frequency band…
Zhongjun Yang, Chuyan Dong, Xinyu Zhang, Guogang Wang
We investigate the tracking control problem for a non-strict feedback nonlinear system with external disturbance and time-varying asymmetric full state constraints. Firstly, the unknown nonlinear term with external disturbance in the system are estimated by fuzzy logic system. The backstepping method is applied to the…
Siting Liu, Gong Chen, An Mei, Xunjie Lu + 3 more
Microfluidics has emerged as a rapidly growing field in recent years, offering numerous advantages over traditional methods for various applications such as biomedical analysis, environmental monitoring, and chemical synthesis. Among the many areas of microfluidics research, the manipulation of fluids plays a crucial…
Authors not listed
In quantum chemistry, diffusion-controlled reactions are typically characterized by a monotonous rise in the electronic energy, indicative of a barrierless process. In reality, this change in electronic energy is accompanied by an increase in entropy, thereby introducing a barrier in free energy. Standard…