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Safe Multi-Agent Interaction through Robust Control Barrier Functions with Learned Uncertainties

IEEE Conference on Decision and Control (CDC), 2020

11 April 2020

Papers citing "Safe Multi-Agent Interaction through Robust Control Barrier Functions with Learned Uncertainties"

37 / 37 papers shown

Title
K-DAREK: Distance Aware Error for Kurkova Kolmogorov Networks Masoud Ataei Vikas Dhiman M. J. Khojasteh 144 0 0 24 Oct 2025
Semi-Infinite Programming for Collision-Avoidance in Optimal and Model Predictive Control Yunfan Gao Florian Messerer Niels van Duijkeren Rashmi Dabir Moritz Diehl 62 1 0 17 Aug 2025
Distributed Risk-Sensitive Safety Filters for Uncertain Discrete-Time SystemsIEEE Control Systems Letters (L-CSS), 2025 Armin Lederer Erfaun Noorani Andreas Krause 115 0 0 09 Jun 2025
Barrier Function Overrides For Non-Convex Fixed Wing Flight Control and Self-Driving Cars Eric Squires Phillip Odom Z. Kira 254 0 0 08 May 2025
Barriers on the EDGE: A scalable CBF architecture over EDGE for safe aerial-ground multi-agent coordination V. N. Sankaranarayanan Achilleas Santi Seisa Akshit Saradagi S. Satpute G. Nikolakopoulos 292 0 0 25 Nov 2024
Decentralized Safe and Scalable Multi-Agent Control under Limited ActuationIEEE International Conference on Robotics and Automation (ICRA), 2024 Vrushabh Zinage Abhishek Jha Rohan Chandra E. Bakolas 158 7 0 15 Sep 2024
Generalizable Physics-Informed Learning for Stochastic Safety-Critical Systems Zhuoyuan Wang Albert Chern Yorie Nakahira 383 1 0 11 Jul 2024
Learning Input Constrained Control Barrier Functions for Guaranteed Safety of Car-Like Robots Sven Brüggemann Dominic Nightingale Jack Silberman Maurício de Oliveira 265 0 0 19 Feb 2024
GCBF+: A Neural Graph Control Barrier Function Framework for Distributed Safe Multi-Agent ControlIEEE Transactions on robotics (IEEE Trans. Robot.), 2024 Songyuan Zhang Oswin So Kunal Garg Chuchu Fan AI4CE 625 41 0 25 Jan 2024
Learning Adaptive Safety for Multi-Agent SystemsIEEE International Conference on Robotics and Automation (ICRA), 2023 Luigi Berducci Shuo Yang Rahul Mangharam Radu Grosu 257 8 0 19 Sep 2023
LQR-CBF-RRT*: Safe and Optimal Motion PlanningAmerican Control Conference (ACC), 2023 Guangtao Yang Mingyu Cai A. Ahmad Amanda Prorok Roberto Tron C. Belta 237 8 0 03 Apr 2023
Safe Hierarchical Navigation in Crowded Dynamic Uncertain EnvironmentsIEEE Conference on Decision and Control (CDC), 2022 Hongyi Chen Shiyu Feng Ye Zhao Changliu Liu Patricio A. Vela 105 7 0 24 Mar 2023
Online Control Barrier Functions for Decentralized Multi-Agent NavigationInternational Symposium on Multi-Robot and Multi-Agent Systems (MRS), 2023 Zhan Gao Guangtao Yang Amanda Prorok 227 23 0 08 Mar 2023
Rethinking Safe Control in the Presence of Self-Seeking HumansAAAI Conference on Artificial Intelligence (AAAI), 2022 Zixuan Zhang Maitham F. AL-Sunni Haoming Jing H. Shirado Yorie Nakahira 184 4 0 01 Dec 2022
Satellite Navigation and Coordination with Limited Information SharingConference on Learning for Dynamics & Control (L4DC), 2022 Sydney I. Dolan Siddharth Nayak H. Balakrishnan 152 5 0 07 Nov 2022
Recursively Feasible Probabilistic Safe Online Learning with Control Barrier Functions F. Castañeda Jason J. Choi Wonsuhk Jung Bike Zhang Claire Tomlin Koushil Sreenath 211 8 0 23 Aug 2022
Sample-efficient Safe Learning for Online Nonlinear Control with Control Barrier FunctionsWorkshop on the Algorithmic Foundations of Robotics (WAFR), 2022 Wenhao Luo Wen Sun Ashish Kapoor OffRL 206 10 0 29 Jul 2022
Robust Action Governor for Uncertain Piecewise Affine Systems with Non-convex Constraints and Safe Reinforcement Learning Yutong Li Nan I. Li H. E. Tseng Anouck Girard Dimitar Filev Ilya Kolmanovsky 83 4 0 17 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 Koushil Sreenath 178 20 0 11 May 2022
SABLAS: Learning Safe Control for Black-box Dynamical SystemsIEEE Robotics and Automation Letters (RA-L), 2022 Zengyi Qin Dawei Sun Chuchu Fan 221 52 0 06 Jan 2022
ProBF: Learning Probabilistic Safety Certificates with Barrier Functions Athindran Ramesh Kumar Sulin Liu J. F. Fisac Ryan P. Adams Peter J. Ramadge 187 4 0 22 Dec 2021
Learning Safety Filters for Unknown Discrete-Time Linear SystemsIEEE Control Systems Letters (L-CSS), 2021 Farhad Farokhi Alex S. C. Leong Mohammad Zamani Iman Shames 134 2 0 01 Nov 2021
Beyond Robustness: A Taxonomy of Approaches towards Resilient Multi-Robot Systems Amanda Prorok Matthew Malencia Luca Carlone Gaurav Sukhatme Brian M. Sadler Vijay Kumar 235 70 0 25 Sep 2021
Learning Observation-Based Certifiable Safe Policy for Decentralized Multi-Robot Navigation Yuxiang Cui Longzhong Lin Xiaolong Huang Dongkun Zhang Yue Wang R. Xiong 185 12 0 16 Sep 2021
Learning Interaction-aware Guidance Policies for Motion Planning in Dense Traffic Scenarios B. Brito Achint Agarwal Javier Alonso-Mora 188 20 0 09 Jul 2021
Pointwise Feasibility of Gaussian Process-based Safety-Critical Control under Model UncertaintyIEEE Conference on Decision and Control (CDC), 2021 F. Castañeda Jason J. Choi Bike Zhang Claire Tomlin Koushil Sreenath 204 57 0 13 Jun 2021
Uncertainty-aware Safe Exploratory Planning using Gaussian Process and Neural Control Contraction Metric Dawei Sun M. J. Khojasteh S. Shekhar Chuchu Fan 163 2 0 13 May 2021
Safe Multi-Agent Reinforcement Learning through Decentralized Multiple Control Barrier Functions Zhiyuan Cai Huanhui Cao Wenjie Lu Lin Zhang Hao Xiong 70 29 0 23 Mar 2021
Limits of Probabilistic Safety Guarantees when Considering Human UncertaintyIEEE International Conference on Robotics and Automation (ICRA), 2021 Richard Cheng R. Murray J. W. Burdick 284 10 0 05 Mar 2021
Safe Learning of Uncertain Environments F. Farokhi Alex S. C. Leong Iman Shames Mohammad Zamani 141 0 0 02 Mar 2021
Provably Correct Training of Neural Network Controllers Using Reachability Analysis Xiaowu Sun Yasser Shoukry 173 7 0 22 Feb 2021
Learning Safe Multi-Agent Control with Decentralized Neural Barrier CertificatesInternational Conference on Learning Representations (ICLR), 2021 Zengyi Qin Jianchao Tan Yuxiao Chen Jingkai Chen Chuchu Fan 301 151 0 14 Jan 2021
Learning-based attacks in Cyber-Physical Systems: Exploration, Detection, and Control Cost trade-offsConference on Learning for Dynamics & Control (L4DC), 2020 A. Rangi M. J. Khojasteh M. Franceschetti AAML 330 10 0 21 Nov 2020
Gaussian Process-based Min-norm Stabilizing Controller for Control-Affine Systems with Uncertain Input Effects and DynamicsAmerican Control Conference (ACC), 2020 F. Castañeda Jason J. Choi Bike Zhang Claire Tomlin Koushil Sreenath 203 44 0 14 Nov 2020
Safe Active Dynamics Learning and Control: A Sequential Exploration-Exploitation FrameworkIEEE Transactions on robotics (IEEE Trans. Robot.), 2020 T. Lew Apoorva Sharma James Harrison Andrew Bylard Marco Pavone 281 51 0 26 Aug 2020
ShieldNN: A Provably Safe NN Filter for Unsafe NN Controllers James Ferlez Mahmoud M. Elnaggar Yasser Shoukry C. Fleming AAML 288 36 0 16 Jun 2020
Robust Safety-Critical Control for Dynamic Robotics Quan Nguyen Koushil Sreenath 93 14 0 14 May 2020