v1v2 (latest)

Model-Free Safety-Critical Control for Robotic Systems

19 September 2021

Papers citing "Model-Free Safety-Critical Control for Robotic Systems"

27 / 27 papers shown

Title
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 96 4 0 15 Aug 2025
Towards Data-Driven Model-Free Safety-Critical Control Zhe Shen Yitaek Kim Christoffer Sloth 83 2 0 07 Jun 2025
Safe Uncertainty-Aware Learning of Robotic Suturing Wilbert Peter Empleo Yitaek Kim Hansoul Kim Thiusius Rajeeth Savarimuthu Iñigo Iturrate 282 1 0 22 May 2025
Navigating Polytopes with Safety: A Control Barrier Function ApproachConference on Control Technology and Applications (CCTA), 2025 Tamas G. Molnar 162 1 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 136 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 255 0 0 16 May 2025
Dynamic Safety in Complex Environments: Synthesizing Safety Filters with Poisson's EquationRobotics (RAS), 2025 Gilbert Bahati Ryan M. Bena Aaron D. Ames 257 4 0 11 May 2025
Gameplay Filters: Robust Zero-Shot Safety through Adversarial ImaginationConference on Robot Learning (CoRL), 2024 D. Nguyen Kai-Chieh Hsu Wenhao Yu Jie Tan J. F. Fisac 244 1 0 17 Jan 2025
Safety-Critical Controller Synthesis with Reduced-Order ModelsAmerican Control Conference (ACC), 2024 Max H. Cohen Noel Csomay-Shanklin William D. Compton Tamás G. Molnár Aaron D. Ames 239 8 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 146 2 0 16 Apr 2024
Safety-Critical Control for Autonomous Systems: Control Barrier Functions via Reduced-Order ModelsAnnual Reviews in Control (ARC), 2024 Max H. Cohen Tamás G. Molnár Aaron D. Ames 250 74 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 305 27 0 04 Mar 2024
Safe Motion Planning for Quadruped Robots Using Density FunctionsInternational Conference on Intelligent Cloud Computing (ICICC), 2023 S. Narayanan Andrew Zheng Umesh Vaidya 212 3 0 14 Dec 2023
Safety-Critical Coordination of Legged Robots via Layered Controllers and Forward Reachable Set based Control Barrier FunctionsIEEE International Conference on Robotics and Automation (ICRA), 2023 Jeeseop Kim Jaemin Lee Aaron D. Ames 161 7 0 14 Dec 2023
A Data-driven Method for Safety-critical Control: Designing Control Barrier Functions from State ConstraintsAmerican Control Conference (ACC), 2023 Jaemin Lee Jeeseop Kim Aaron D. Ames 285 7 0 12 Dec 2023
Polygonal Cone Control Barrier Functions (PolyC2BF) for safe navigation in cluttered environmentsEuropean Control Conference (ECC), 2023 Manan Tayal Shishir Kolathaya 240 7 0 15 Nov 2023
Iterative Reachability Estimation for Safe Reinforcement LearningNeural Information Processing Systems (NeurIPS), 2023 Milan Ganai Zheng Gong Chenning Yu Sylvia Herbert Sicun Gao 199 27 0 24 Sep 2023
Characterizing Smooth Safety Filters via the Implicit Function TheoremIEEE Control Systems Letters (L-CSS), 2023 Max H. Cohen Pio Ong Gilbert Bahati Aaron D. Ames 186 31 0 22 Sep 2023
Robust Task-Space Quadratic Programming for Kinematic-Controlled RobotsIEEE Transactions on robotics (TRO), 2023 Mohamed Djeha P. Gergondet A. Kheddar 118 11 0 27 Jul 2023
Safe Navigation and Obstacle Avoidance Using Differentiable Optimization Based Control Barrier FunctionsIEEE Robotics and Automation Letters (RA-L), 2023 Bolun Dai Rooholla Khorrambakht Prashanth Krishnamurthy V. Gonccalves Anthony Tzes Farshad Khorrami 248 48 0 17 Apr 2023
Safety-Critical Coordination for Cooperative Legged Locomotion via Control Barrier FunctionsIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023 Jeeseop Kim Jaemin Lee Aaron D. Ames 208 16 0 23 Mar 2023
Safety-Critical Control with Bounded Inputs via Reduced Order ModelsAmerican Control Conference (ACC), 2023 Tamás G. Molnár Aaron D. Ames 162 28 0 06 Mar 2023
Safe Reinforcement Learning using Data-Driven Predictive ControlInternational Conference on Communications, Signal Processing, and their Applications (ICCSPA), 2022 Mahmoud Selim Amr Alanwar M. El-Kharashi Hazem Abbas Karl H. Johansson OffRL 194 7 0 20 Nov 2022
Safety-Critical Manipulation for Collision-Free Food PreparationIEEE Robotics and Automation Letters (RA-L), 2022 Andrew W. Singletary W. Guffey Tamás G. Molnár Ryan W. Sinnet Aaron D. Ames 175 60 0 02 May 2022
Safe Reinforcement Learning Using Black-Box Reachability AnalysisIEEE Robotics and Automation Letters (RA-L), 2022 Mahmoud Selim Amr Alanwar Shreyas Kousik Grace Gao Marco Pavone Karl H. Johansson 196 41 0 15 Apr 2022
Self-Supervised Online Learning for Safety-Critical Control using Stereo VisionIEEE 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 218 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 209 27 0 15 Dec 2021