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Found 5 papers, 0 papers with code
Construction of Control Barrier Functions Using Predictions with Finite Horizon
We show that, based on ideas similar to the Hamilton-Jacobi reachability analysis, the knowledge on the subset of a control-invariant set allows us to obtain a time-invariant CBF for the time-invariant dynamics under consideration.
Decentralized Vehicle Coordination and Lane Switching without Switching of Controllers
This paper proposes a controller for safe lane change manoeuvres of autonomous vehicles using high-order control barrier and Lyapunov functions.
A Consistency Constraint-Based Approach to Coupled State Constraints in Distributed Model Predictive Control
In this paper, we present a distributed model predictive control (DMPC) scheme for dynamically decoupled systems which are subject to state constraints, coupling state constraints and input constraints.
Handling Disjunctions in Signal Temporal Logic Based Control Through Nonsmooth Barrier Functions
For a class of spatio-temporal tasks defined by a fragment of Signal Temporal Logic (STL), we construct a nonsmooth time-varying control barrier function (CBF) and develop a controller based on a set of simple optimization problems.
Parallelized Robust Distributed Model Predictive Control in the Presence of Coupled State Constraints
Reference trajectories and consistency constraints are known to neighboring subsystems.
