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 …

We propose new methods to synthesize control barrier function (CBF) based safe controllers
that avoid input saturation, which can cause safety violations. In particular, our method is …

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 …

Generating safe and non-conservative behaviors in dense, dynamic environments remains
challenging for automated vehicles due to the stochastic nature of traffic participants' …

More than three miles above the Arizona desert, an F-16 student pilot experienced a gravity-
induced loss of consciousness, passing out while turning at nearly 9Gs (nine times the force …

This letter details the theory and implementation behind practically ensuring safety of
remotely piloted racing drones. We demonstrate robust and practical safety guarantees on a …

Distributed, scalable, and safe control of large-scale multi-agent systems is a challenging
problem. In this paper, we design a distributed framework for safe multi-agent control in …