A new robust Q-CBF framework synthesized via adversarial RL enables safety enforcement on the maximal robust safe set for black-box nonlinear systems.
Robust control barrier functions with sector-bounded uncertainties
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Robust time-varying control barrier functions are derived that guarantee safety for all sector-bounded input nonlinearities via pointwise quadratic constraints and an SOCP safety filter, demonstrated on spacecraft docking.
citing papers explorer
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Synthesis and Deployment of Maximal Robust Control Barrier Functions through Adversarial Reinforcement Learning
A new robust Q-CBF framework synthesized via adversarial RL enables safety enforcement on the maximal robust safe set for black-box nonlinear systems.
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Robust Time-Varying Control Barrier Functions with Sector-Bounded Nonlinearities
Robust time-varying control barrier functions are derived that guarantee safety for all sector-bounded input nonlinearities via pointwise quadratic constraints and an SOCP safety filter, demonstrated on spacecraft docking.