18 papers · ranked by Valyu relevance
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…
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…
Lukas Brunke, Siqi Zhou, Angela P. Schoellig
In this work, we consider the problem of designing a safety filter for a nonlinear uncertain control system. Our goal is to augment an arbitrary controller with a safety filter such that the overall closed-loop system is guaranteed to stay within a given state constraint set, referred to as being safe. For systems with…
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…
James Dallas, John M. Talbot, Makoto Suminaka, Michael Thompson + 3 more
'Thomas Lew' 'Gábor Orosz' 'John Subosits'] Abstract— This manuscript presents a control barrier function based approach to shared control for preventing a vehicle from entering the part of the state space where it is unrecoverable. The maximal phase recoverable ellipse is presented as a safe set in the sideslip…
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…
Logan E. Beaver
to Control Bounds Authors: ['Logan E. Beaver'] Abstract— This letter addresses the constraint compatibility problem of control barrier functions (CBFs), which occurs when a safety-critical CBF requires a system to apply more control effort than it is capable of generating. This inevitably leads to a safety violation…
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…
Federico Califano, Riccardo Zanella, Alessandro Macchelli, Stefano Stramigioli
controlled physical systems Authors: ['Federico Califano' 'Riccardo Zanella' 'Alessandro Macchelli' 'Stefano Stramigioli'] Abstract—Using a port-Hamiltonian formalism, we show the qualitative and quantitative effect of safety-critical control implemented with control barrier functions (CBFs) on the power balance of…
Ashkan Zehfroosh, Herbert G. Tanner
This paper reports on a new approach to Signal Temporal Logic (STL) control synthesis, that 1) utilizes a navigation function as the basis to construct a Control Barrier Function (CBF), and 2) composes navigation function-based barrier functions using nonsmooth mappings to encode Boolean operations between the…
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…
Clinton Enwerem, John S. Baras
— We consider the problem of safely coordinating ensembles of identical autonomous agents to conduct complex missions with conflicting safety requirements and under noisy control inputs. Using non-smooth control barrier functions (CBFs) and stochastic model-predictive control as springboards, and by adopting an…
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…
Frederik Vinter-Hviid, Christoffer Sloth, Thiusius Rajeeth Savarimuthu, Iñigo Iturrate
'Thiusius Rajeeth Savarimuthu' 'Iñigo Iturrate'] In robotics, active exploration and learning in uncertain environments must take into account safety, as the robot may otherwise damage itself or its surroundings. This paper presents a method for safe active search using Bayesian optimization and control barrier…
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…
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…
Batia Bell, Shira Anzi, Esther Sasson, Ayal Ben-Zvi
CNS vasculature differs from vascular networks of peripheral organs by its ability to tightly control selective material exchange across capillary barriers. Capillary permeability is mostly defined by unique cellular components of the endothelium. While capillaries are extensively investigated, the barrier properties…
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…