{"paper":{"title":"Robust Control Barrier Functions using Uncertainty Estimation with Application to Mobile Robots","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.RO","cs.SY"],"primary_cat":"eess.SY","authors_text":"Ersin Das, Joel W. Burdick","submitted_at":"2024-01-03T18:42:22Z","abstract_excerpt":"This paper proposes a safety-critical control design approach for nonlinear control affine systems in the presence of matched and unmatched uncertainties. Our constructive framework couples control barrier function (CBF) theory with a new uncertainty estimator to ensure robust safety. We use the estimated uncertainty, along with a derived upper bound on the estimation error, for synthesizing CBFs and safety-critical controllers via a quadratic program-based feedback control law that rigorously ensures robust safety while improving disturbance rejection performance. We extend the method to high"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2401.01881","kind":"arxiv","version":3},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2401.01881/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}