Modern autonomous systems, such as flying, legged, and wheeled robots, are generally
characterized by high-dimensional nonlinear dynamics, which presents challenges for …

Today's control engineering problems exhibit an unprecedented complexity, with examples
including the reliable integration of renewable energy sources into power grids, safe …

Balancing safety and performance is one of the predominant challenges in modern control
system design. Moreover, it is crucial to robustly ensure safety without inducing unnecessary …

Connected automated vehicles (CAVs) have shown great potential in improving traffic
throughput and stability. Although various longitudinal control strategies have been …

This work combines control barrier functions (CBFs) with a whole-body controller to enable
self-collision avoidance for the MIT Humanoid. Existing reactive controllers for self-collision …

Control barrier functions (CBFs) have been widely applied to safety-critical robotic
applications. However, the construction of control barrier functions for robotic systems …

Sampling-based motion planning methods for manipulators in crowded environments often
suffer from expensive collision checking and high sampling complexity, which make them …

Task-space quadratic programming (QP) is an elegant approach for controlling robots
subject to constraints. Yet, in the case of kinematic-controlled (ie, high-gain position or …

The safety-critical control of robotic systems often must account for multiple, potentially
conflicting, safety constraints. This paper proposes novel relaxation techniques to address …

This paper focuses on the need for a rigorous theory of layered control architectures (LCAs)
for complex engineered and natural systems, such as power systems, communication …