Recent years have seen significant progress in the realm of robot autonomy, accompanied
by the expanding reach of robotic technologies. However, the emergence of new …

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 …

Control barrier functions (CBFs) have become popular as a safety filter to guarantee the
safety of nonlinear dynamical systems for arbitrary inputs. However, it is difficult to construct …

This tutorial paper presents recent work of the authors that extends the theory of Control
Barrier Functions (CBFs) to address practical challenges in the synthesis of safe controllers …

This letter presents a systematic method based on the sum of square (SOS) optimization to
synthesize control barrier functions (CBFs) for nonlinear polynomial systems subject to input …

We study the problem of verification and synthesis of robust control barrier functions (CBF)
for control-affine polynomial systems with bounded additive uncertainty and convex …

In this letter, we seek to build connections between control Lyapunov functions (CLFs) and
Hamilton-Jacobi (HJ) reachability analysis. CLFs have been used extensively in the control …

In this survey, we review the recent advances in control design methods for robotic multi-
agent systems (MAS), focusing on learning-based methods with safety considerations. We …

Control invariant sets are crucial for various methods that aim to design safe control policies
for systems whose state constraints must be satisfied over an indefinite time horizon. In this …