Rollover Prevention for Mobile Robots with Control Barrier Functions: Differentiator-Based Adaptation and Projection-to-State Safety

no code implementations • 13 Mar 2024 • Ersin Das, Aaron D. Ames, Joel W. Burdick

To this end, we consider a safety measure based on the zero moment point to provide conditions on the control input through the lens of CBFs.

Robust Control Barrier Functions using Uncertainty Estimation with Application to Mobile Robots

no code implementations • 3 Jan 2024 • Ersin Das, Joel W. Burdick

Then, we robustify existing CBF constraints with this uncertainty estimate and the estimation error bounds to ensure robust safety via a quadratic program (CBF-QP).

Disturbance Observers for Robust Safety-critical Control with Control Barrier Functions

no code implementations • 16 Sep 2022 • Anil Alan, Tamas G. Molnar, Ersin Das, Aaron D. Ames, Gabor Orosz

This work provides formal safety guarantees for control systems with disturbance.