Control Barrier Functions: Theory and Applications

Keywords

Context (archaeology), Computer science, Control (management), Work (physics), Systems engineering

References

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• Über die Lage der Integralkurven gewöhnlicher DifferentialgleichungenMitio Nagumo — 1942
• Control barrier function based quadratic programs with application to bipedal robotic walkingShao‐Chen Hsu, Xiangru Xu, Aaron D. Ames — 2015
• A survey of viability theoryJean‐Pierre Aubin — 1990
• CONSTRUCTIVE SAFETY USING CONTROL BARRIER FUNCTIONSPeter Wieland, Frank Allgöwer — 2007
• Manifolds, Tensor Analysis, and ApplicationsRalph Abraham, J. Marsden, Tudor S. Raţiu — 1983
• Control barrier function based quadratic programs with application to adaptive cruise controlAaron D. Ames, Jessy W. Grizzle, Paulo Tabuada — 2014
• Torque Saturation in Bipedal Robotic Walking Through Control Lyapunov Function-Based Quadratic ProgramsKevin S. Galloway, Koushil Sreenath, Aaron D. Ames — 2013
• A Framework for Worst-Case and Stochastic Safety Verification Using Barrier CertificatesS. Prajna, Ali Jadbabaie, George J. Pappas — 2007
• A universal construction of Artstein's theorem on nonlinear stabilizationEduardo D. Sontag — 1989
• Barrier Lyapunov Functions for the control of output-constrained nonlinear systemsKeng Peng Tee, Shuzhi Sam Ge, Eng Hock Tay — 2009
• On a characterization of flow-invariant setsHaı̈m Brezis — 1970
• On the necessity of barrier certificatesS. Prajna, Anders Rantzer — 2005
• Barrier certificates for nonlinear model validationS. Prajna — 2003
• A time-dependent Hamilton-Jacobi formulation of reachable sets for continuous dynamic gamesIan M. Mitchell, Alexandre M. Bayen, Claire J. Tomlin — 2005
• Proving the Correctness of Multiprocess ProgramsLeslie Lamport — 1977
• Stabilization with relaxed controlsZvi Artstein — 1983

Cited by

• Differentially Private LQ ControlKasra Yazdani, Austin Jones, Kevin Leahy — 2018
• Persistification of Robotic TasksGennaro Notomista, Magnus Egerstedt — 2019
• A Sequential Composition Framework for Coordinating Multirobot BehaviorsPietro Pierpaoli, Anqi Li, Mohit Srinivasan — 2019
• Characterizing Safety: Minimal Barrier Functions from Scalar Comparison SystemsRohit Konda, Aaron D. Ames, Samuel Coogan — 2019
• A Barrier Function Approach to Finite-Time Stochastic System Verification and ControlCesar Santoyo, Maxence Dutreix, Samuel Coogan — 2019
• Optimizing process economics and operational safety via economic MPC using barrier functions and recurrent neural network modelsZhe Wu, Panagiotis D. Christofides — 2019
• Robust Planning and Control For Polygonal Environments via Linear ProgrammingMahroo Bahreinian, Erfan Aasi, Roberto Tron — 2019
• Autonomous vehicles: From vehicular control to traffic controMaria Laura Delle Monache, Jonathan Sprinkle, Ram Vasudevan — 2019
• Linear Temporal Logic Satisfaction in Adversarial Environments Using Secure Control Barrier CertificatesBhaskar Ramasubramanian, Luyao Niu, Andrew Clark — 2019
• Haptic Teleoperation of UAVs Through Control Barrier FunctionsDawei Zhang, Guang Yang, Rebecca P. Khurshid — 2019
• Towards Variable Assistance for Lower Body ExoskeletonsThomas Gurriet, Maegan Tucker, Alexis Duburcq — 2019
• Safe Adaptation Using Energy FunctionsCharles Noren, Changliu Liu — 2019
• Multi-Robot Collision Avoidance under Uncertainty with Probabilistic Safety Barrier CertificatesWenhao Luo, Wen Sun, Ashish Kapoor — 2019
• Probabilistic Safety Constraints for Learned High Relative Degree System DynamicsMohammad Javad Khojasteh, Vikas Dhiman, Massimo Franceschetti — 2019
• Learning for Safety-Critical Control with Control Barrier FunctionsAndrew J. Taylor, Andrew Singletary, Yisong Yue — 2019
• Safety Considerations in Deep Control Policies with Probabilistic Safety Barrier CertificatesTom Hirshberg, Sai H. Vemprala, Ashish Kapoor — 2020
• Task-Priority Control of Redundant Robotic Systems using Control Lyapunov and Control Barrier Function based Quadratic ProgramsErlend A. Basso, Kristin Y. Pettersen — 2020
• Training Neural Network Controllers Using Control Barrier Functions in the Presence of DisturbancesShakiba Yaghoubi, Georgios Fainekos, Sriram Sankaranarayanan — 2020
• Extent-Compatible Control Barrier FunctionsMohit Srinivasan, Matthew Abate, Gustav Nilsson — 2020
• Compositional construction of control barrier functions for interconnected control systemsPushpak Jagtap, Abdalla Swikir, Majid Zamani — 2020

Related papers

• Control barrier function based quadratic programs with application to adaptive cruise controlAaron D. Ames, Jessy W. Grizzle, Paulo Tabuada — 2014
• Exponential Control Barrier Functions for enforcing high relative-degree safety-critical constraintsQuan Nguyen, Koushil Sreenath — 2016
• Adaptive Safety with Control Barrier FunctionsAndrew J. Taylor, Aaron D. Ames — 2019
• Robust control barrier functions for constrained stabilization of nonlinear systemsMrdjan Janković — 2018
• Discrete Control Barrier Functions for Safety-Critical Control of Discrete Systems with Application to Bipedal Robot NavigationAyush Agrawal, Koushil Sreenath — 2017
• Convex OptimizationStephen Boyd, Lieven Vandenberghe — 2004
• CONSTRUCTIVE SAFETY USING CONTROL BARRIER FUNCTIONSPeter Wieland, Frank Allgöwer — 2007