RPCBF: Constructing Safety Filters Robust to Model Error and
Disturbances via Policy Control Barrier Functions

v1v2 (latest)

RPCBF: Constructing Safety Filters Robust to Model Error and Disturbances via Policy Control Barrier Functions

15 October 2024

Panagiotis Tsiotras

Javier Alonso-Mora

ArXiv (abs)PDF HTML

Papers citing "RPCBF: Constructing Safety Filters Robust to Model Error and Disturbances via Policy Control Barrier Functions"

10 / 10 papers shown

Title
GCBF+: A Neural Graph Control Barrier Function Framework for Distributed Safe Multi-Agent Control Songyuan Zhang Oswin So Kunal Garg Chuchu Fan AI4CE 135 24 0 25 Jan 2024
Sequential Neural Barriers for Scalable Dynamic Obstacle Avoidance Hong-Den Yu Chiaki Hirayama Chenning Yu Sylvia Herbert Sicun Gao 41 16 0 06 Jul 2023
gatekeeper: Online Safety Verification and Control for Nonlinear Systems in Dynamic Environments Devansh R. Agrawal Rui-Wen Chen Dimitra Panagou 38 10 0 25 Nov 2022
Safety and Liveness Guarantees through Reach-Avoid Reinforcement Learning Kai Hsu Vicencc Rubies-Royo Claire Tomlin J. F. Fisac 67 67 0 23 Dec 2021
Safe Nonlinear Control Using Robust Neural Lyapunov-Barrier Functions Charles Dawson Zengyi Qin Sicun Gao Chuchu Fan 146 176 0 14 Sep 2021
Learning Safe Multi-Agent Control with Decentralized Neural Barrier Certificates Zengyi Qin Kai Zhang Yuxiao Chen Jingkai Chen Chuchu Fan 51 133 0 14 Jan 2021
DeepReach: A Deep Learning Approach to High-Dimensional Reachability Somil Bansal Claire Tomlin 93 156 0 04 Nov 2020
Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control Donghyun Kim J. Carlo Benjamin Katz Gerardo Bledt Sangbae Kim 94 320 0 14 Sep 2019
Control Barrier Functions for Systems with High Relative Degree Wei Xiao C. Belta 60 284 0 12 Mar 2019
A predictive safety filter for learning-based control of constrained nonlinear dynamical systems K. P. Wabersich Melanie Zeilinger AI4CE 78 158 0 13 Dec 2018