Knowledge Base

Blogs

3Laws Blogs on 3laws.io

Papers

This section lists some of the research publications produced by the 3Laws team:

• 3D dynamic walking on stepping stones with control barrier functions

• A Barrier-Based Scenario Approach to Verify Safety-Critical Systems

• A Control Barrier Perspective on Episodic Learning via Projection-to-State Safety

• A scalable controlled set invariance framework with practical safety guarantees

• A Scalable Safety Critical Control Framework for Nonlinear Systems

• Adaptive Safety Using Control Barrier Functions and Hybrid Adaptation

• Adaptive safety with control barrier functions

• An online approach to active set invariance

• Backup Control Barrier Functions: Formulation and Comparative Study

• Barrier functions for multiagent-pomdps with dtl specifications

• Barrier functions: Bridging the gap between planning from specifications and safety-critical control

• Certifying Safety for Nonlinear Time Delay Systems via Safety Functionals: A Discretization Based Approach

• Characterizing Safety: Minimal Control Barrier Functions From Scalar Comparison Systems

• Comparative Analysis of Control Barrier Functions and Artificial Potential Fields for Obstacle Avoidance

• Control barrier certificates for safe swarm behavior

• Control barrier function based quadratic programs for safety critical systems

• Control barrier function based quadratic programs with application to adaptive cruise control

• Control barrier function based quadratic programs with application to bipedal robotic walking

• Control barrier functions for sampled-data systems with input delays

• Control barrier functions: Theory and applications

• Data-Driven Safety-Critical Control: Synthesizing Control Barrier Functions with Koopman Operators

• Density Functions for Guaranteed Safety on Robotic Systems

• Distributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach

• Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety

• Formal test synthesis for safety-critical autonomous systems based on control barrier functions

• Guaranteed obstacle avoidance for multi-robot operations with limited actuation: a control barrier function approach

• Guaranteeing Safety of Learned Perception Modules via Measurement-Robust Control Barrier Functions

• Input-to-State Safety with Control Barrier Functions

• Integral Control Barrier Functions for Dynamically Defined Control Laws

• Learning for safety-critical control with control barrier functions

• Learning Performance Bounds for Safety-Critical Systems

• Measurement-robust control barrier functions: Certainty in safety with uncertainty in state

• Model-free safety-critical control for robotic systems

• Multi-layered safety for legged robots via control barrier functions and model predictive control

• Multi-Rate Control Design Leveraging Control Barrier Functions and Model Predictive Control Policies

• Multi-rate control design under input constraints via fixed-time barrier functions

• Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies

• Onboard safety guarantees for racing drones: High-speed geofencing with control barrier functions

• Online Active Safety for Robotic Manipulators.

• Online safety calculations for glide-slope recapture

• Reactive motion planning with probabilistics safety guarantees

• Realizable Set Invariance Conditions for Cyber-Physical Systems

• Risk-Averse Control via CVaR Barrier Functions: Application to Bipedal Robot Locomotion

• Risk-Sensitive Path Planning via CVaR Barrier Functions: Application to Bipedal Locomotion

• Robustness of Control Barrier Functions for Safety Critical Control

• Safe Backstepping with Control Barrier Functions

• Safe Control for Nonlinear Systems with Stochastic Uncertainty via Risk Control Barrier Functions

• Safe Controller Synthesis with Tunable Input-to-State Safe Control Barrier Functions

• Safe multi-agent interaction through robust control barrier functions with learned uncertainties

• Safe Policy Synthesis in Multi-Agent POMDPs via Discrete-Time Barrier Functions

• Safety Barrier certificates for collisions-free multirobot systems

• Safety barrier certificates for heterogeneous multi-robot systems

• Safety Functionals for Time Delay Systems

• Safety of Sampled-Data Systems with Control Barrier Functions via Approximate Discrete Time Models

• Safety-Aware Preference-Based Learning for Safety-Critical Control

• Safety-critical control synthesis for network systems with control barrier functions and assume-guarantee contracts

• Safety-Critical Event Triggered Control via Input-to-State Safe Barrier Functions

• Safety-Critical Kinematic Control of Robotic Systems

• Safety-Critical Manipulation for Collision-Free Food Preparation

• Safety-Critical Rapid Aerial Exploration of Unknown Environments

• Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision

• SLIP Walking over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program

• Stability and Safety through Event-Triggered Intermittent Control with Application to Spacecraft Orbit Stabilization

• Towards a framework for realizable safety critical control through active set invariance

Videos

This section contains a curated selection of videos to meetings, workshops and conference talks on the topics of Control Barrier Functions and Run-time Assurance.

Control Barrier Functions

Aaron Ames - Safety-Critical Control of Autonomous Systems

Aaron Ames - Control Barrier Functions for Safe Robot Autonomy

Aaron Ames - Safety-Critical Control of Dynamic Robots

Aaron Ames - Guaranteeing Safety of Learned Perception Modules via Measurement-Robust Control Barrier Functions

Federico Califano - Introduction to Control Barrier Functions (CBFs) and energy-based CBFs

Georgios Fainekos - Control barrier functions & neural networks for handling risk and uncertainty in autonomous systems

Jason Choi - Introduction to Control Lyapunov Functions and Control Barrier Functions

Jason Choi - Robust Control Barrier-Value Functions for Safety-Critical Control

Jason Choi - Safety Filters for Uncertain Dynamical Systems: Control Theory & Data-driven Approaches

Lars Lindermann - Learning Hybrid Control Barrier Functions from Data

Ruben Grandia - Multi-Layered Safety for Legged Robots via Control Barrier Functions & MPC (ICRA 2021 Presentation)

Sander Tonkens - Refining CBFs through Hamilton-Jacobi Reachability (IROS 2022 Presentation)

Sylvia Herbert - Connections between HJ Reachability Analysis and CBF

Sze Zheng Yong - Robust Control Barrier Functions with Set-Membership Estimation and Learning

Wenceslao Shaw Cortez - Differentiable Predictive Control with Safety Guarantees: A Control Barrier Function Approach

Wenceslao Shaw Cortez - Correct-by-Design Control Barrier Functions for Euler-Lagrange Systems with Input Constraints

Yuxiao Chen - Towards safe multiagent autonomy

Run-Time Assurance

Dio De Niz - Certifiable Distributed Runtime Assurance (CDRA)

Hesham Shageer - Run-time assurance via real-time generation of trajectory and transverse dynamics regulation law

Kerianne Hobbs - Autonomy on a Leash

Mark Skoog - Leveraging Multi-Monitor Run-Time Assurance

Matthew Abate - Verification and Runtime Assurance for Dynamical Systems with Uncertainty