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Found 10 papers, 3 papers with code
Robust Safety under Stochastic Uncertainty with Discrete-Time Control Barrier Functions
To this end, we leverage Control Barrier Functions (CBFs) which guarantee that a robot remains in a ``safe set'' during its operation -- yet CBFs (and their associated guarantees) are traditionally studied in the context of continuous-time, deterministic systems with bounded uncertainties.
Safe Backstepping with Control Barrier Functions
Complex control systems are often described in a layered fashion, represented as higher-order systems where the inputs appear after a chain of integrators.
Multi-Rate Planning and Control of Uncertain Nonlinear Systems: Model Predictive Control and Control Lyapunov Functions
Modern control systems must operate in increasingly complex environments subject to safety constraints and input limits, and are often implemented in a hierarchical fashion with different controllers running at multiple time scales.
Safety of Sampled-Data Systems with Control Barrier Functions via Approximate Discrete Time Models
Existing design paradigms do not address the gap between theory (controller design with continuous time models) and practice (the discrete time sampled implementation of the resulting controllers); this can lead to poor performance and violations of safety for hardware instantiations.
Measurement-Robust Control Barrier Functions: Certainty in Safety with Uncertainty in State
The increasing complexity of modern robotic systems and the environments they operate in necessitates the formal consideration of safety in the presence of imperfect measurements.
Towards Robust Data-Driven Control Synthesis for Nonlinear Systems with Actuation Uncertainty
Modern nonlinear control theory seeks to endow systems with properties such as stability and safety, and has been deployed successfully across various domains.
Measuring Individual Masses of Binary White Dwarfs with Space-based Gravitational-wave Interferometers
We found quasi-universal relations among the mass, moment of inertia, and tidal deformability of a white dwarf that do not depend sensitively on the white dwarf composition.
High Energy Astrophysical Phenomena Solar and Stellar Astrophysics General Relativity and Quantum Cosmology
Guaranteeing Safety of Learned Perception Modules via Measurement-Robust Control Barrier Functions
The guarantees ensured by these controllers often rely on accurate estimates of the system state for determining control actions.
A Control Lyapunov Perspective on Episodic Learning via Projection to State Stability
The goal of this paper is to understand the impact of learning on control synthesis from a Lyapunov function perspective.
Episodic Learning with Control Lyapunov Functions for Uncertain Robotic Systems
Many modern nonlinear control methods aim to endow systems with guaranteed properties, such as stability or safety, and have been successfully applied to the domain of robotics.
