Learning for Safety-Critical Control with Control Barrier Functions

20 December 2019

Papers citing "Learning for Safety-Critical Control with Control Barrier Functions"

36 / 36 papers shown

Title
Formal Verification and Control with Conformal Prediction Lars Lindemann Yiqi Zhao Xinyi Yu George J. Pappas Jyotirmoy V. Deshmukh 67 14 0 31 Aug 2024
Neural Control Barrier Functions for Safe Navigation Marvin Harms M. Kulkarni Nikhil Khedekar Martin Jacquet Kostas Alexis 40 7 0 29 Jul 2024
Closing the Perception-Action Loop for Semantically Safe Navigation in Semi-Static Environments Jingxing Qian Siqi Zhou Nicholas Jianrui Ren Veronica Chatrath Angela P. Schoellig 36 0 0 22 Apr 2024
Learning Piecewise Residuals of Control Barrier Functions for Safety of Switching Systems using Multi-Output Gaussian Processes Mohammad Aali Jun Liu 27 0 0 26 Mar 2024
Robust Control Barrier Functions using Uncertainty Estimation with Application to Mobile Robots Ersin Daş J. W. Burdick 67 7 0 03 Jan 2024
Constraint-Guided Online Data Selection for Scalable Data-Driven Safety Filters in Uncertain Robotic Systems Jason J. Choi F. Castañeda Wonsuhk Jung Bike Zhang Claire J. Tomlin K. Sreenath 35 3 0 23 Nov 2023
Model-Assisted Probabilistic Safe Adaptive Control With Meta-Bayesian Learning Shengbo Wang Ke Li Yin Yang Yuting Cao Tingwen Huang S. Wen 23 4 0 03 Jul 2023
Conformal Predictive Safety Filter for RL Controllers in Dynamic Environments Kegan J. Strawn Nora Ayanian Lars Lindemann 32 8 0 05 Jun 2023
Safely Learning Dynamical Systems Amir Ali Ahmadi A. Chaudhry Vikas Sindhwani Stephen Tu 23 3 0 20 May 2023
Learning Feasibility Constraints for Control Barrier Functions Wei Xiao Christos G. Cassandras C. Belta 43 6 0 10 Mar 2023
Robust Control for Dynamical Systems With Non-Gaussian Noise via Formal Abstractions Thom S. Badings Licio Romao Alessandro Abate David Parker Hasan A. Poonawala Marielle Stoelinga N. Jansen 32 37 0 04 Jan 2023
Towards Explainability in Modular Autonomous Vehicle Software Hongrui Zheng Zirui Zang Shuo Yang Rahul Mangharam 29 0 0 01 Dec 2022
Recursively Feasible Probabilistic Safe Online Learning with Control Barrier Functions F. Castañeda Jason J. Choi Wonsuhk Jung Bike Zhang Claire Tomlin K. Sreenath 40 6 0 23 Aug 2022
Sample-efficient Safe Learning for Online Nonlinear Control with Control Barrier Functions Wenhao Luo Wen Sun Ashish Kapoor OffRL 43 9 0 29 Jul 2022
Safe Reinforcement Learning via Confidence-Based Filters Sebastian Curi Armin Lederer Sandra Hirche Andreas Krause OffRL 24 4 0 04 Jul 2022
Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models Zhongyu Li Jun Zeng A. Thirugnanam K. Sreenath 24 16 0 11 May 2022
Refining Control Barrier Functions through Hamilton-Jacobi Reachability S. Tonkens Sylvia L. Herbert 23 37 0 26 Apr 2022
Differentiable Control Barrier Functions for Vision-based End-to-End Autonomous Driving Wei Xiao Tsun-Hsuan Wang Makram Chahine Alexander Amini Ramin Hasani Daniela Rus 25 26 0 04 Mar 2022
High Order Robust Adaptive Control Barrier Functions and Exponentially Stabilizing Adaptive Control Lyapunov Functions Max H. Cohen C. Belta 17 27 0 03 Mar 2022
Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision Ryan K. Cosner I. D. Rodriguez Tamás G. Molnár Wyatt Ubellacker Yisong Yue Aaron D. Ames Katherine L. Bouman 30 14 0 02 Mar 2022
Safe Control with Learned Certificates: A Survey of Neural Lyapunov, Barrier, and Contraction methods Charles Dawson Sicun Gao Chuchu Fan 33 230 0 23 Feb 2022
Learning Differentiable Safety-Critical Control using Control Barrier Functions for Generalization to Novel Environments Hengbo Ma Bike Zhang M. Tomizuka K. Sreenath 20 23 0 04 Jan 2022
Safety-Aware Preference-Based Learning for Safety-Critical Control Ryan K. Cosner Maegan Tucker Andrew J. Taylor Kejun Li Tamás G. Molnár Wyatt Ubellacker Anil Alan G. Orosz Yisong Yue Aaron D. Ames 31 24 0 15 Dec 2021
Learning Contraction Policies from Offline Data Navid Rezazadeh Maxwell Kolarich Solmaz S. Kia Negar Mehr OffRL 16 7 0 11 Dec 2021
Learning Robust Output Control Barrier Functions from Safe Expert Demonstrations Lars Lindemann Alexander Robey Lejun Jiang Satyajeet Das Stephen Tu Nikolai Matni 45 42 0 18 Nov 2021
Sampling-Based Robust Control of Autonomous Systems with Non-Gaussian Noise Heinke Hihn Alessandro Abate Nils Jansen David Parker Hasan A. Poonawala Marielle Stoelinga 27 27 0 25 Oct 2021
Risk-averse autonomous systems: A brief history and recent developments from the perspective of optimal control Yuheng Wang Margaret P. Chapman 38 32 0 18 Sep 2021
Stabilizing Neural Control Using Self-Learned Almost Lyapunov Critics Ya-Chien Chang Sicun Gao 13 57 0 11 Jul 2021
Pointwise Feasibility of Gaussian Process-based Safety-Critical Control under Model Uncertainty F. Castañeda Jason J. Choi Bike Zhang Claire Tomlin K. Sreenath 30 50 0 13 Jun 2021
Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety Noel Csomay-Shanklin Ryan K. Cosner Min Dai Andrew J. Taylor Aaron D. Ames 32 24 0 04 May 2021
Distributionally robust risk map for learning-based motion planning and control: A semidefinite programming approach A. Hakobyan Insoon Yang 104 25 0 03 May 2021
Learning Certified Control using Contraction Metric Dawei Sun Susmit Jha Chuchu Fan 20 74 0 25 Nov 2020
Towards Robust Data-Driven Control Synthesis for Nonlinear Systems with Actuation Uncertainty Andrew J. Taylor Victor D. Dorobantu Sarah Dean Benjamin Recht Yisong Yue Aaron D. Ames 19 35 0 21 Nov 2020
Learning Control Barrier Functions from Expert Demonstrations Alexander Robey Haimin Hu Lars Lindemann Hanwen Zhang Dimos V. Dimarogonas Stephen Tu Nikolai Matni 31 201 0 07 Apr 2020
Safe Adaptation with Multiplicative Uncertainties Using Robust Safe Set Algorithm Charles Noren Weiye Zhao Changliu Liu 29 14 0 19 Dec 2019
Episodic Learning with Control Lyapunov Functions for Uncertain Robotic Systems Andrew J. Taylor Victor D. Dorobantu Hoang Minh Le Yisong Yue Aaron D. Ames 117 78 0 04 Mar 2019