Dynamic walking on bipedal robots has evolved from an idea in science fiction to a practical
reality. This is due to continued progress in three key areas: a mathematical understanding …

ABSTRACT The Internet of Robotic Things (IoRT) emerges from integrating robotics into the
Internet of things (IoT). The dynamic nature of the IoRT environment poses unique security …

In this paper, we extend the concept of control barrier functions, developed initially for
continuous time systems, to the discrete-time domain. We demonstrate safety-critical control …

To bring complex systems into real world environments in a safe manner, they will have to
be robust to uncertainties-both in the environment and the system. This letter investigates …

Guaranteed safety and performance under various circumstances remain technically critical
and practically challenging for the wide deployment of autonomous vehicles. Safety-critical …

In this paper, a hierarchical and robust framework for learning bipedal locomotion is
presented and successfully implemented on the 3D biped robot Digit built by Agility …

This letter provides formal safety guarantees for control systems with disturbance. A
disturbance observer-based robust safety-critical controller is proposed, that estimates the …

This paper presents initial results towards a realizable framework for the safety critical
controlled invariance of cyber-physical systems. The main contribution of this paper is the …

High-performance learning-based control for the typical safety-critical autonomous vehicles
invariably requires that the full-state variables are constrained within the safety region even …

This letter focuses on safety-critical control with sector-bounded uncertainties at the plant
input. The uncertainties can represent nonlinear and/or time-varying components. We …