Andrew W. Singletary — accepted AI-conference papers

2022

Model-Free Safety-Critical Control for Robotic Systems

Tamás G. Molnár, Ryan K. Cosner, Andrew W. Singletary, Wyatt Ubellacker, Aaron D. Ames

RA-L 2022

This letter presents a framework for the safety-critical control of robotic systems, when safety is defined on safe regions in the configuration space. To maintain safety, we synthesize a safe velocity based on control barrier function theory without relying on a – potentially complicated &#x

Cited by 132 Source ↗Scholar ↗

2021

Measurement-Robust Control Barrier Functions: Certainty in Safety with Uncertainty in State

Ryan K. Cosner, Andrew W. Singletary, Andrew J. Taylor, Tamas G. Molnar, Katherine L. Bouman, Aaron D. Ames

IROS 2021poster

The increasing complexity of modern robotic systems and the environments they operate in necessitates the formal consideration of safety in the presence of imperfect measurements. In this paper we propose a rigorous framework for safety-critical control of systems with erroneous state estimates. We…

Cited by 47 Source ↗Scholar ↗