A horizon-agnostic neural operator paired with a boundary control barrier function creates a real-time safety filter that raises safe trajectory rates by up to 22% on fluid manipulation tasks in simulation.
High-order control barrier functions
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UNVERDICTED 3representative citing papers
SACBFs guarantee continuous-time safety and finite-time reach-and-remain under zero-order-hold control by estimating inter-sample barrier evolution with Taylor upper bounds and adding a relaxed variant for multiple constraints.
An online learning-enhanced high-order adaptive CBF with Neural ODEs maintains safety for a 38g nano quadrotor against 18km/h wind by adapting to time-varying perturbations on the fly.
citing papers explorer
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Online Safety Filter for Deformable Object Manipulation with Horizon Agnostic Neural Operators
A horizon-agnostic neural operator paired with a boundary control barrier function creates a real-time safety filter that raises safe trajectory rates by up to 22% on fluid manipulation tasks in simulation.
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Sampling-Aware Control Barrier Functions for Safety-Critical and Finite-Time Constrained Control
SACBFs guarantee continuous-time safety and finite-time reach-and-remain under zero-order-hold control by estimating inter-sample barrier evolution with Taylor upper bounds and adding a relaxed variant for multiple constraints.
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Online Learning-Enhanced High Order Adaptive Safety Control
An online learning-enhanced high-order adaptive CBF with Neural ODEs maintains safety for a 38g nano quadrotor against 18km/h wind by adapting to time-varying perturbations on the fly.