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 …

Extremum seeking (ES) is a powerful approach to the optimization and stabilization of
unknown dynamic systems and is an active field of research in control theory. This paper …

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

This paper provides an introduction and overview of recent work on control barrier functions
and their use to verify and enforce safety properties in the context of (optimization based) …

Safety critical systems involve the tight coupling between potentially conflicting control
objectives and safety constraints. As a means of creating a formal framework for controlling …

Modern nonlinear control theory seeks to endow systems with properties of stability and
safety, and have been deployed successfully in multiple domains. Despite this success …

This paper extends control barrier functions (CBFs) to high order control barrier functions
(HOCBFs) that can be used for high relative degree constraints. The proposed HOCBFs are …

Inspired by the success of imitation and inverse reinforcement learning in replicating expert
behavior through optimal control, we propose a learning based approach to safe controller …

Quadratic Programming (QP) has been used to combine Control Lyapunov and Control
Barrier Functions (CLF and CBF) to design controllers for nonlinear systems with constraints …

This paper develops a control methodology that unifies control barrier functions and control
Lyapunov functions through quadratic programs. The result is demonstrated on adaptive …