Control barrier functions have been widely studied and applied to safety-critical systems,
including multi-agent obstacle avoidance problems. In this work, we apply control barrier …

Inspired by the success of control barrier functions (CBFs) in addressing safety, and the rise
of data-driven techniques for modeling functions, we propose a non-parametric approach for …

This paper presents a provably safe method for constrained reorientation of a spacecraft in
the presence of input constraints, bounded disturbances, and fixed frequency zero-order …

This paper presents a distributed input rectification methodology to guarantee the safety of a
multi-agent system over its pre-given cooperative control task. We start with defining a multi …

In the field of Learning from Demonstration (LfD), Dynamical Systems (DSs) have gained
significant attention due to their ability to generate real-time motions and reach predefined …

In this paper, we propose a controller that stabilizes a holonomic robot with single-integrator
dynamics to a target position in a bounded domain, while preventing collisions with convex …

For Multi-Agent Systems (MAS) formation problem, this paper presents a novel
decentralized control protocol that can guarantee the uniqueness of formation shape and …

To estimate the accurate position of the target, the geodesic curvature of the transmitter
sensor is proposed in the present work. The geodesic curvature of the transmitter sensor …

In classical works on a planar differential pursuit-evasion game with a faster pursuer, the
intercept point resulting from the equilibrium strategies lies on the Apollonius circle. This …

This dissertation presents advances in the design of constrained control laws, specifically
control barrier function (CBF) quadratic program (QP) based control laws, herein called …