Correct-by-construction synthesis is a cornerstone of the confluence of formal methods and
control theory towards designing safety-critical systems. Instead of following the time-tested …

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) …

Chordal and factor-width decomposition methods for semidefinite programming and
polynomial optimization have recently enabled the analysis and control of large-scale linear …

We approach the problem of stabilizing a dynamical system while optimizing a cost and
satisfying safety constraints and control limitations. For (nonlinear) affine control systems …

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 …

This paper presents safety barrier certificates that ensure scalable and provably collision-
free behaviors in multirobot systems by modifying the nominal controllers to formally satisfy …

In this article, a novel adaptive tracking control technique is developed for multiple-input-
multiple-output nonlinear systems with model uncertainty and under output constraints …

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 …

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