6 accepted papers
Safety is a fundamental requirement of many robotic systems. Control barrier function (CBF)-based approaches have been proposed to guarantee the safety of robotic systems. However, the effectiveness of these approaches highly relies on the choice of CBFs. Inspired by the universal approximation powe…
Neural Control Barrier Functions (NCBFs) have shown significant promise in enforcing safety constraints on nonlinear autonomous systems. State-of-the-art exact approaches to verifying safety of NCBF-based controllers exploit the piecewise-linear structure of ReLU neural networks, however, such appro…
Control Barrier Functions (CBFs) are a popular approach for safe control of nonlinear systems. In CBF-based control, the desired safety properties of the system are mapped to nonnegativity of a CBF, and the control input is chosen to ensure that the CBF remains nonnegative for all time. Recently, ma…
The opinions of members of a population are influenced by opinions of their peers, their own predispositions, and information from external sources via one or more information channels (e.g., news, social media). Due to individual cognitive biases, the perceptual impact of and importance assigned by…
While ensuring stability for linear systems is well understood, it remains a major challenge for nonlinear systems. A general approach in such cases is to compute a combination of a Lyapunov function and an associated control policy. However, finding Lyapunov functions for general nonlinear systems…
Safety is a critical property in applications including robotics, transportation, and energy. Safety is especially challenging in reinforcement learning (RL) settings, in which uncertainty of the system dynamics may cause safety violations during exploration. Control Barrier Functions (CBFs), which…