Zobrazeno 1 - 10
of 1 250
pro vyhledávání: '"MOLNÁR, TAMÁS"'
This paper presents a novel approach for synthesizing control barrier functions (CBFs) from high relative degree safety constraints: Rectified CBFs (ReCBFs). We begin by discussing the limitations of existing High-Order CBF approaches and how these c
Externí odkaz:
http://arxiv.org/abs/2412.03708
Reduced-order models (ROMs) provide lower dimensional representations of complex systems, capturing their salient features while simplifying control design. Building on previous work, this paper presents an overarching framework for the integration o
Externí odkaz:
http://arxiv.org/abs/2411.16479
Autor:
van Wijk, David E. J., Coogan, Samuel, Molnar, Tamas G., Majji, Manoranjan, Hobbs, Kerianne L.
Obtaining a controlled invariant set is crucial for safety-critical control with control barrier functions (CBFs) but is non-trivial for complex nonlinear systems and constraints. Backup control barrier functions allow such sets to be constructed onl
Externí odkaz:
http://arxiv.org/abs/2409.07700
Controlling connected automated vehicles (CAVs) via vehicle-to-everything (V2X) connectivity holds significant promise for improving fuel economy and traffic efficiency. However, to deploy CAVs and reap their benefits, their controllers must guarante
Externí odkaz:
http://arxiv.org/abs/2409.06884
The introduction of connected and automated vehicles (CAV) is believed to reduce congestion, enhance safety, and improve traffic efficiency. Numerous research studies have focused on controlling pure CAV platoons in fully connected automated traffic,
Externí odkaz:
http://arxiv.org/abs/2406.11508
Modern autonomous systems, such as flying, legged, and wheeled robots, are generally characterized by high-dimensional nonlinear dynamics, which presents challenges for model-based safety-critical control design. Motivated by the success of reduced-o
Externí odkaz:
http://arxiv.org/abs/2403.09865
Autor:
Molnar, Tamas G., Kannan, Suresh K., Cunningham, James, Dunlap, Kyle, Hobbs, Kerianne L., Ames, Aaron D.
Safety-critical failures often have fatal consequences in aerospace control. Control systems on aircraft, therefore, must ensure the strict satisfaction of safety constraints, preferably with formal guarantees of safe behavior. This paper establishes
Externí odkaz:
http://arxiv.org/abs/2403.02508
This paper presents a safety-critical control framework tailored for quadruped robots equipped with a roller arm, particularly when performing locomotive tasks such as autonomous robotic inspection in complex, multi-tiered environments. In this study
Externí odkaz:
http://arxiv.org/abs/2312.07778
Autor:
Janwani, Neil C., Daş, Ersin, Touma, Thomas, Wei, Skylar X., Molnar, Tamas G., Burdick, Joel W.
Ensuring robot safety in complex environments is a difficult task due to actuation limits, such as torque bounds. This paper presents a safety-critical control framework that leverages learning-based switching between multiple backup controllers to f
Externí odkaz:
http://arxiv.org/abs/2310.05865
Autor:
Molnar, Tamas G., Ames, Aaron D.
The increasing complexity of control systems necessitates control laws that guarantee safety w.r.t. complex combinations of constraints. In this letter, we propose a framework to describe compositional safety specifications with control barrier funct
Externí odkaz:
http://arxiv.org/abs/2309.06647