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Barrier States Theory for Safety-Critical Multi-Objective Control
The proposition is that the control problem is now transformed to designing a control law for the new, unconstrained, system in which the barrier state is driven to stay bounded while achieving other performance objectives.
Gaussian Process Barrier States for Safe Trajectory Optimization and Control
We derive the barrier state dynamics utilizing the GP posterior, which is used to construct a safety embedded Gaussian process dynamical model (GPDM).
Barrier States Embedded Iterative Dynamic Game for Robust and Safe Trajectory Optimization
The proposed method leverages a game theoretic differential dynamic programming approach with barrier states to handle parametric and non-parametric uncertainties in safety-critical control systems.
HJB Based Optimal Safe Control Using Control Barrier Functions
This work proposes an optimal safe controller minimizing an infinite horizon cost functional subject to control barrier functions (CBFs) safety conditions.
Safety Embedded Control of Nonlinear Systems via Barrier States
The development enforces safety by means of barrier functions used in optimization through the construction of barrier states (BaS) which are embedded in the control system's model.
