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Model-Free Safety-Critical Control for Robotic Systems
19 September 2021
Tamás G. Molnár
Ryan K. Cosner
Andrew W. Singletary
Wyatt Ubellacker
Aaron D. Ames
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Papers citing
"Model-Free Safety-Critical Control for Robotic Systems"
27 / 27 papers shown
Geometry-Aware Predictive Safety Filters on Humanoids: From Poisson Safety Functions to CBF Constrained MPC
Ryan M. Bena
Gilbert Bahati
Blake Werner
Ryan K. Cosner
Lizhi Yang
Aaron D. Ames
142
7
0
15 Aug 2025
Towards Data-Driven Model-Free Safety-Critical Control
Zhe Shen
Yitaek Kim
Christoffer Sloth
123
2
0
07 Jun 2025
Safe Uncertainty-Aware Learning of Robotic Suturing
Wilbert Peter Empleo
Yitaek Kim
Hansoul Kim
Thiusius Rajeeth Savarimuthu
Iñigo Iturrate
365
2
0
22 May 2025
Navigating Polytopes with Safety: A Control Barrier Function Approach
Conference on Control Technology and Applications (CCTA), 2025
Tamas G. Molnar
215
3
0
22 May 2025
Online Synthesis of Control Barrier Functions with Local Occupancy Grid Maps for Safe Navigation in Unknown Environments
Yuepeng Zhang
Yu Chen
Yuda Li
Shaoyuan Li
Xiang Yin
183
0
0
17 May 2025
SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics
Lizhi Yang
Blake Werner
Ryan K. Cosner
David Fridovich-Keil
Preston Culbertson
Aaron D. Ames
347
3
0
16 May 2025
Dynamic Safety in Complex Environments: Synthesizing Safety Filters with Poisson's Equation
Robotics (RAS), 2025
Gilbert Bahati
Ryan M. Bena
Aaron D. Ames
493
7
0
11 May 2025
Gameplay Filters: Robust Zero-Shot Safety through Adversarial Imagination
Conference on Robot Learning (CoRL), 2024
D. Nguyen
Kai-Chieh Hsu
Wenhao Yu
Jie Tan
J. F. Fisac
293
1
0
17 Jan 2025
Safety-Critical Controller Synthesis with Reduced-Order Models
American Control Conference (ACC), 2024
Max H. Cohen
Noel Csomay-Shanklin
William D. Compton
Tamás G. Molnár
Aaron D. Ames
325
11
0
25 Nov 2024
Safety-critical Autonomous Inspection of Distillation Columns using Quadrupedal Robots Equipped with Roller Arms
Jaemin Lee
Jeeseop Kim
Aaron D. Ames
213
3
0
16 Apr 2024
Safety-Critical Control for Autonomous Systems: Control Barrier Functions via Reduced-Order Models
Annual Reviews in Control (ARC), 2024
Max H. Cohen
Tamás G. Molnár
Aaron D. Ames
327
85
0
14 Mar 2024
Collision Avoidance and Geofencing for Fixed-wing Aircraft with Control Barrier Functions
Tamás G. Molnár
Suresh K. Kannan
James Cunningham
Kyle Dunlap
Kerianne L. Hobbs
Aaron D. Ames
426
34
0
04 Mar 2024
Safe Motion Planning for Quadruped Robots Using Density Functions
International Conference on Intelligent Cloud Computing (ICICC), 2023
S. Narayanan
Andrew Zheng
Umesh Vaidya
253
3
0
14 Dec 2023
Safety-Critical Coordination of Legged Robots via Layered Controllers and Forward Reachable Set based Control Barrier Functions
IEEE International Conference on Robotics and Automation (ICRA), 2023
Jeeseop Kim
Jaemin Lee
Aaron D. Ames
226
8
0
14 Dec 2023
A Data-driven Method for Safety-critical Control: Designing Control Barrier Functions from State Constraints
American Control Conference (ACC), 2023
Jaemin Lee
Jeeseop Kim
Aaron D. Ames
357
9
0
12 Dec 2023
Polygonal Cone Control Barrier Functions (PolyC2BF) for safe navigation in cluttered environments
European Control Conference (ECC), 2023
Manan Tayal
Shishir Kolathaya
296
10
0
15 Nov 2023
Iterative Reachability Estimation for Safe Reinforcement Learning
Neural Information Processing Systems (NeurIPS), 2023
Milan Ganai
Zheng Gong
Chenning Yu
Sylvia Herbert
Sicun Gao
247
37
0
24 Sep 2023
Characterizing Smooth Safety Filters via the Implicit Function Theorem
IEEE Control Systems Letters (L-CSS), 2023
Max H. Cohen
Pio Ong
Gilbert Bahati
Aaron D. Ames
293
35
0
22 Sep 2023
Robust Task-Space Quadratic Programming for Kinematic-Controlled Robots
IEEE Transactions on robotics (TRO), 2023
Mohamed Djeha
P. Gergondet
A. Kheddar
164
12
0
27 Jul 2023
Safe Navigation and Obstacle Avoidance Using Differentiable Optimization Based Control Barrier Functions
IEEE Robotics and Automation Letters (RA-L), 2023
Bolun Dai
Rooholla Khorrambakht
Prashanth Krishnamurthy
V. Gonccalves
Anthony Tzes
Farshad Khorrami
320
51
0
17 Apr 2023
Safety-Critical Coordination for Cooperative Legged Locomotion via Control Barrier Functions
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023
Jeeseop Kim
Jaemin Lee
Aaron D. Ames
266
18
0
23 Mar 2023
Safety-Critical Control with Bounded Inputs via Reduced Order Models
American Control Conference (ACC), 2023
Tamás G. Molnár
Aaron D. Ames
278
33
0
06 Mar 2023
Safe Reinforcement Learning using Data-Driven Predictive Control
International Conference on Communications, Signal Processing, and their Applications (ICCSPA), 2022
Mahmoud Selim
Amr Alanwar
M. El-Kharashi
Hazem Abbas
Karl H. Johansson
OffRL
260
7
0
20 Nov 2022
Safety-Critical Manipulation for Collision-Free Food Preparation
IEEE Robotics and Automation Letters (RA-L), 2022
Andrew W. Singletary
W. Guffey
Tamás G. Molnár
Ryan W. Sinnet
Aaron D. Ames
221
64
0
02 May 2022
Safe Reinforcement Learning Using Black-Box Reachability Analysis
IEEE Robotics and Automation Letters (RA-L), 2022
Mahmoud Selim
Amr Alanwar
Shreyas Kousik
Grace Gao
Marco Pavone
Karl H. Johansson
253
41
0
15 Apr 2022
Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision
IEEE International Conference on Robotics and Automation (ICRA), 2022
Ryan K. Cosner
I. D. Rodriguez
Tamás G. Molnár
Wyatt Ubellacker
Yisong Yue
Aaron D. Ames
Katherine Bouman
314
16
0
02 Mar 2022
Safety-Aware Preference-Based Learning for Safety-Critical Control
Ryan K. Cosner
Maegan Tucker
Andrew J. Taylor
Kejun Li
Tamás G. Molnár
Wyatt Ubellacker
Anil Alan
G. Orosz
Yisong Yue
Aaron D. Ames
237
29
0
15 Dec 2021
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