Safe Nonlinear Control Using Robust Neural Lyapunov-Barrier Functions

14 September 2021

Chuchu Fan

Papers citing "Safe Nonlinear Control Using Robust Neural Lyapunov-Barrier Functions"

32 / 32 papers shown

Title
Bridging Model Predictive Control and Deep Learning for Scalable Reachability Analysis Zeyuan Feng Le Qiu Somil Bansal 30 0 0 04 May 2025
Learning Neural Control Barrier Functions from Offline Data with Conservatism Ihab Tabbara Hussein Sibai OffRL 65 0 0 01 May 2025
From Uncertain to Safe: Conformal Fine-Tuning of Diffusion Models for Safe PDE Control Peiyan Hu Xiaowei Qian Wenhao Deng Rui Wang Haodong Feng ... Tao Zhang Long Wei Yue Wang Zhi-Ming Ma Tailin Wu AI4CE 115 0 0 04 Feb 2025
Safe and Dynamically-Feasible Motion Planning using Control Lyapunov and Barrier Functions Pol Mestres Carlos Nieto-Granda Jorge Cortés 39 1 0 10 Oct 2024
Learning to Refine Input Constrained Control Barrier Functions via Uncertainty-Aware Online Parameter Adaptation Taekyung Kim Robin Inho Kee Dimitra Panagou 36 6 0 22 Sep 2024
Robots that Suggest Safe Alternatives Hyun Joe Jeong Andrea V. Bajcsy Andrea Bajcsy OffRL 41 1 0 15 Sep 2024
Neural Control Barrier Functions for Safe Navigation Marvin Harms M. Kulkarni Nikhil Khedekar Martin Jacquet Kostas Alexis 38 7 0 29 Jul 2024
Lyapunov-stable Neural Control for State and Output Feedback: A Novel Formulation Lujie Yang Hongkai Dai Zhouxing Shi Cho-Jui Hsieh Russ Tedrake Huan Zhang 45 14 0 11 Apr 2024
Distributionally Robust Policy and Lyapunov-Certificate Learning Kehan Long Jorge Cortés Nikolay A. Atanasov 34 2 0 03 Apr 2024
GCBF+: A Neural Graph Control Barrier Function Framework for Distributed Safe Multi-Agent Control Songyuan Zhang Oswin So Kunal Garg Chuchu Fan AI4CE 41 22 0 25 Jan 2024
Learning Performance-Oriented Control Barrier Functions Under Complex Safety Constraints and Limited Actuation Shaoru Chen Mahyar Fazlyab 30 6 0 11 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 25 3 0 23 Nov 2023
State-Wise Safe Reinforcement Learning With Pixel Observations S. Zhan Yixuan Wang Qingyuan Wu Ruochen Jiao Chao Huang Qi Zhu 38 10 0 03 Nov 2023
Task-Oriented Koopman-Based Control with Contrastive Encoder Xubo Lyu Hanyang Hu Seth Siriya Ye Pu Mo Chen 26 5 0 28 Sep 2023
Reinforcement Learning for Safe Robot Control using Control Lyapunov Barrier Functions Desong Du Shao-Fu Han Naiming Qi Haitham Bou-Ammar Jun Wang Wei Pan 24 15 0 16 May 2023
PAC-Based Formal Verification for Out-of-Distribution Data Detection Mohit Prashant Arvind Easwaran OODD 22 1 0 04 Apr 2023
Online Control Barrier Functions for Decentralized Multi-Agent Navigation Zhan Gao Guangtao Yang Amanda Prorok 39 15 0 08 Mar 2023
A Policy Optimization Method Towards Optimal-time Stability Shengjie Wang Lan Fengb Xiang Zheng Yu-wen Cao Oluwatosin Oseni Haotian Xu Tao Zhang Yang Gao 26 1 0 02 Jan 2023
Towards Explainability in Modular Autonomous Vehicle Software Hongrui Zheng Zirui Zang Shuo Yang Rahul Mangharam 25 0 0 01 Dec 2022
Learning Control Admissibility Models with Graph Neural Networks for Multi-Agent Navigation Chenning Yu Hong-Den Yu Sicun Gao 26 17 0 17 Oct 2022
Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions Shuo Liu Jun Zeng K. Sreenath C. Belta 97 20 0 09 Oct 2022
Neural Lyapunov Control of Unknown Nonlinear Systems with Stability Guarantees Rui Zhou Thanin Quartz H. Sterck Jun Liu 22 46 0 04 Jun 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 16 37 0 26 Apr 2022
Certifiable Robot Design Optimization using Differentiable Programming Charles Dawson Chuchu Fan 23 7 0 22 Apr 2022
Safe Control with Learned Certificates: A Survey of Neural Lyapunov, Barrier, and Contraction methods Charles Dawson Sicun Gao Chuchu Fan 31 229 0 23 Feb 2022
Overcoming Exploration: Deep Reinforcement Learning for Continuous Control in Cluttered Environments from Temporal Logic Specifications Mingyu Cai Erfan Aasi C. Belta C. Vasile 25 24 0 28 Jan 2022
Learning Differentiable Safety-Critical Control using Control Barrier Functions for Generalization to Novel Environments Hengbo Ma Bike Zhang M. Tomizuka K. Sreenath 13 23 0 04 Jan 2022
Learning Robust Output Control Barrier Functions from Safe Expert Demonstrations Lars Lindemann Alexander Robey Lejun Jiang Satyajeet Das Stephen Tu Nikolai Matni 43 42 0 18 Nov 2021
Comparative Analysis of Control Barrier Functions and Artificial Potential Fields for Obstacle Avoidance Andrew W. Singletary Karl Klingebiel Joseph R. Bourne Andrew W. Browning P. Tokumaru Aaron D. Ames 114 115 0 19 Oct 2020
Episodic Learning with Control Lyapunov Functions for Uncertain Robotic Systems Andrew J. Taylor Victor D. Dorobantu Hoang Minh Le Yisong Yue Aaron D. Ames 115 78 0 04 Mar 2019
Control Design along Trajectories with Sums of Squares Programming Anirudha Majumdar Amir Ali Ahmadi Russ Tedrake 102 139 0 02 Oct 2012