diff --git a/en/latest/_sources/sources/knowledge.rst.txt b/en/latest/_sources/sources/knowledge.rst.txt index 5eda3c6..85b2c4a 100644 --- a/en/latest/_sources/sources/knowledge.rst.txt +++ b/en/latest/_sources/sources/knowledge.rst.txt @@ -8,13 +8,213 @@ Blogs Papers ====== -`Aaron Ames's publications `_ +This section lists some of the research publications produced by the 3Laws team: + +* `3D dynamic walking on stepping stones with control barrier functions `_ +* `A Barrier-Based Scenario Approach to Verify Safety-Critical Systems `_ +* `A Control Barrier Perspective on Episodic Learning via Projection-to-State Safety `_ +* `A scalable controlled set invariance framework with practical safety guarantees `_ +* `A Scalable Safety Critical Control Framework for Nonlinear Systems `_ +* `Adaptive Safety Using Control Barrier Functions and Hybrid Adaptation `_ +* `Adaptive safety with control barrier functions `_ +* `An online approach to active set invariance `_ +* `Backup Control Barrier Functions: Formulation and Comparative Study `_ +* `Barrier functions for multiagent-pomdps with dtl specifications `_ +* `Barrier functions: Bridging the gap between planning from specifications and safety-critical control `_ +* `Certifying Safety for Nonlinear Time Delay Systems via Safety Functionals: A Discretization Based Approach `_ +* `Characterizing Safety: Minimal Control Barrier Functions From Scalar Comparison Systems `_ +* `Comparative Analysis of Control Barrier Functions and Artificial Potential Fields for Obstacle Avoidance `_ +* `Control barrier certificates for safe swarm behavior `_ +* `Control barrier function based quadratic programs for safety critical systems `_ +* `Control barrier function based quadratic programs with application to adaptive cruise control `_ +* `Control barrier function based quadratic programs with application to bipedal robotic walking `_ +* `Control barrier functions for sampled-data systems with input delays `_ +* `Control barrier functions: Theory and applications `_ +* `Data-Driven Safety-Critical Control: Synthesizing Control Barrier Functions with Koopman Operators `_ +* `Density Functions for Guaranteed Safety on Robotic Systems `_ +* `Distributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach `_ +* `Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety `_ +* `Formal test synthesis for safety-critical autonomous systems based on control barrier functions `_ +* `Guaranteed obstacle avoidance for multi-robot operations with limited actuation: a control barrier function approach `_ +* `Guaranteeing Safety of Learned Perception Modules via Measurement-Robust Control Barrier Functions `_ +* `Input-to-State Safety with Control Barrier Functions `_ +* `Integral Control Barrier Functions for Dynamically Defined Control Laws `_ +* `Learning for safety-critical control with control barrier functions `_ +* `Learning Performance Bounds for Safety-Critical Systems `_ +* `Measurement-robust control barrier functions: Certainty in safety with uncertainty in state `_ +* `Model-free safety-critical control for robotic systems `_ +* `Multi-layered safety for legged robots via control barrier functions and model predictive control `_ +* `Multi-Rate Control Design Leveraging Control Barrier Functions and Model Predictive Control Policies `_ +* `Multi-rate control design under input constraints via fixed-time barrier functions `_ +* `Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies `_ +* `Onboard safety guarantees for racing drones: High-speed geofencing with control barrier functions `_ +* `Online Active Safety for Robotic Manipulators. `_ +* `Online safety calculations for glide-slope recapture `_ +* `Reactive motion planning with probabilistics safety guarantees `_ +* `Realizable Set Invariance Conditions for Cyber-Physical Systems `_ +* `Risk-Averse Control via CVaR Barrier Functions: Application to Bipedal Robot Locomotion `_ +* `Risk-Sensitive Path Planning via CVaR Barrier Functions: Application to Bipedal Locomotion `_ +* `Robustness of Control Barrier Functions for Safety Critical Control `_ +* `Safe Backstepping with Control Barrier Functions `_ +* `Safe Control for Nonlinear Systems with Stochastic Uncertainty via Risk Control Barrier Functions `_ +* `Safe Controller Synthesis with Tunable Input-to-State Safe Control Barrier Functions `_ +* `Safe multi-agent interaction through robust control barrier functions with learned uncertainties `_ +* `Safe Policy Synthesis in Multi-Agent POMDPs via Discrete-Time Barrier Functions `_ +* `Safety Barrier certificates for collisions-free multirobot systems `_ +* `Safety barrier certificates for heterogeneous multi-robot systems `_ +* `Safety Functionals for Time Delay Systems `_ +* `Safety of Sampled-Data Systems with Control Barrier Functions via Approximate Discrete Time Models `_ +* `Safety-Aware Preference-Based Learning for Safety-Critical Control `_ +* `Safety-critical control synthesis for network systems with control barrier functions and assume-guarantee contracts `_ +* `Safety-Critical Event Triggered Control via Input-to-State Safe Barrier Functions `_ +* `Safety-Critical Kinematic Control of Robotic Systems `_ +* `Safety-Critical Manipulation for Collision-Free Food Preparation `_ +* `Safety-Critical Rapid Aerial Exploration of Unknown Environments `_ +* `Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision `_ +* `SLIP Walking over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program `_ +* `Stability and Safety through Event-Triggered Intermittent Control with Application to Spacecraft Orbit Stabilization `_ +* `Towards a framework for realizable safety critical control through active set invariance `_ Videos ====== -This section contains videos to conference talks on the subject of control barrier function and runtime assurance. +This section contains a curated selection of videos to meetings, workshops and conference talks on the topics of **Control Barrier Functions** and **Run-time Assurance**. + +Control Barrier Functions +-------------------------- + +Aaron Ames - Safety-Critical Control of Autonomous Systems +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +.. youtube:: ZC3T_P_8xpE + +| + +Aaron Ames - Control Barrier Functions for Safe Robot Autonomy +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +.. youtube:: EU3fciGisDc + +| + +Aaron Ames - Safety-Critical Control of Dynamic Robots +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +.. youtube:: ek_cFzxyhE0 + +| + +Aaron Ames - Guaranteeing Safety of Learned Perception Modules via Measurement-Robust Control Barrier Functions +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +.. youtube:: x7L6Sz2lxOA + +| + +Federico Califano - Introduction to Control Barrier Functions (CBFs) and energy-based CBFs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +.. youtube:: 3HXIo_HaPRc + +| -* Jason Choi -- Introduction to Control Lyapunov Functions and Control Barrier Functions +Georgios Fainekos - Control barrier functions & neural networks for handling risk and uncertainty in autonomous systems +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +.. youtube:: 3spkt3TfG-E +| + +Jason Choi - Introduction to Control Lyapunov Functions and Control Barrier Functions +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ .. youtube:: _Tkn_Hzo4AA + +| + +Jason Choi - Robust Control Barrier-Value Functions for Safety-Critical Control +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +.. youtube:: LjD5AvuagPc + +| + +Jason Choi - Safety Filters for Uncertain Dynamical Systems: Control Theory & Data-driven Approaches +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +.. youtube:: gsGKmXceWmc + +| + +Lars Lindermann - Learning Hybrid Control Barrier Functions from Data +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +.. youtube:: yQXbwrEKUOo + +| + +Ruben Grandia - Multi-Layered Safety for Legged Robots via Control Barrier Functions & MPC (ICRA 2021 Presentation) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +.. youtube:: xZqapQU2k84 + +| + +Sander Tonkens - Refining CBFs through Hamilton-Jacobi Reachability (IROS 2022 Presentation) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +.. youtube:: GxsCNOLlWmU + +| + +Sylvia Herbert - Connections between HJ Reachability Analysis and CBF +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +.. youtube:: -PzULKLB0D4 + +| + +Sze Zheng Yong - Robust Control Barrier Functions with Set-Membership Estimation and Learning +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +.. youtube:: APbkT7grmr8 + +| + +Wenceslao Shaw Cortez - Differentiable Predictive Control with Safety Guarantees: A Control Barrier Function Approach +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +.. youtube:: NQsfDHSMC6Y + +| + +Wenceslao Shaw Cortez - Correct-by-Design Control Barrier Functions for Euler-Lagrange Systems with Input Constraints +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +.. youtube:: X7vXZtovGGY + +| + +Yuxiao Chen - Towards safe multiagent autonomy +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +.. youtube:: 4t_a-ZBSOgQ + +| + + +Run-Time Assurance +------------------ + +Dio De Niz - Certifiable Distributed Runtime Assurance (CDRA) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +.. youtube:: lOxv44jZykk + +| + +Hesham Shageer - Run-time assurance via real-time generation of trajectory and transverse dynamics regulation law +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +.. youtube:: By__K97YZLw + +| + +Kerianne Hobbs - Autonomy on a Leash +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +.. youtube:: pHTDpusoPSc + +| + +Mark Skoog - Leveraging Multi-Monitor Run-Time Assurance +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +.. youtube:: oO_gfXtscXM + +| + +Matthew Abate - Verification and Runtime Assurance for Dynamical Systems with Uncertainty +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +.. youtube:: x8QOXGpvUs4 + +| diff --git a/en/latest/searchindex.js 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Install Supervisor": [[3, "install-supervisor"]], "1.0.0 (1st May 2024)": [[1, "id8"]], "1.0.1 (1st May 2024)": [[1, "st-may-2024"]], "1.0.2 (4th May 2024)": [[1, "id1"]], "1.0.3 (7th May 2024)": [[1, "th-may-2024"]], "2. Start the Control Panel": [[3, "start-the-control-panel"]], "3. Configure Supervisor": [[3, "configure-supervisor"]], "3rd Party Software used by 3Laws Supervisor": [[5, "rd-party-software-used-by-3laws-supervisor"]], "4. Interface with your stack": [[3, "interface-with-your-stack"]], "5. Launch": [[3, "launch"]], "6. Monitor your system (optional)": [[3, "monitor-your-system-optional"]], "7. Update (optional)": [[3, "update-optional"]], "8. What\u2019s next?": [[3, "what-s-next"]], "Aaron Ames - Control Barrier Functions for Safe Robot Autonomy": [[4, "aaron-ames-control-barrier-functions-for-safe-robot-autonomy"]], "Aaron Ames - Guaranteeing Safety of Learned Perception Modules via Measurement-Robust Control Barrier Functions": [[4, "aaron-ames-guaranteeing-safety-of-learned-perception-modules-via-measurement-robust-control-barrier-functions"]], "Aaron Ames - Safety-Critical Control of Autonomous Systems": [[4, "aaron-ames-safety-critical-control-of-autonomous-systems"]], "Aaron Ames - Safety-Critical Control of Dynamic Robots": [[4, "aaron-ames-safety-critical-control-of-dynamic-robots"]], "Added": [[1, "added"], [1, "id2"], [1, "id5"], [1, "id9"]], "Advanced Settings": [[13, "advanced-settings"]], "Behavior Tuning": [[19, "behavior-tuning"]], "Bicycle (experimental)": [[19, "bicycle-experimental"]], "Blogs": [[4, "blogs"]], "Change Log": [[1, "change-log"]], "Changed": [[1, "changed"], [1, "id3"], [1, "id6"], [1, "id10"]], "Check for available updates": [[8, "check-for-available-updates"]], "Clock Health": [[15, "clock-health"]], "Command Line Interface (CLI)": [[8, "command-line-interface-cli"]], "Configuration": [[15, "configuration"]], "Control Barrier Functions": [[4, "control-barrier-functions"]], "Control Panel": [[14, "control-panel"]], "Control Panel service": [[8, "control-panel-service"]], "Control Panel\u2019s Operations Page": [[14, "control-panel-s-operations-page"]], "Credentials": [[9, "credentials"]], "Data Processing Addendum": [[5, "data-processing-addendum"]], "Desired Control Input and Computed Safe Control Input": [[13, "desired-control-input-and-computed-safe-control-input"]], "Details of Processing": [[5, "details-of-processing"]], "Dio De Niz - Certifiable Distributed Runtime Assurance (CDRA)": [[4, "dio-de-niz-certifiable-distributed-runtime-assurance-cdra"]], "Does Supervisor use any methods other than CBFs to deliver its functionality?": [[2, "does-supervisor-use-any-methods-other-than-cbfs-to-deliver-its-functionality"]], "Dynamic Consistency": [[15, "dynamic-consistency"]], "Dynamical Model": [[19, "dynamical-model"]], "FAQ": [[2, "faq"]], "Fault Management": [[13, "fault-management"]], "Federico Califano - Introduction to Control Barrier Functions (CBFs) and energy-based CBFs": [[4, "federico-califano-introduction-to-control-barrier-functions-cbfs-and-energy-based-cbfs"]], "General Parameters": [[13, "general-parameters"]], "Georgios Fainekos - Control barrier functions & neural networks for handling risk and uncertainty in autonomous systems": [[4, "georgios-fainekos-control-barrier-functions-neural-networks-for-handling-risk-and-uncertainty-in-autonomous-systems"]], "Getting started": [[3, "getting-started"]], "Handling uncertainties and delays": [[19, "handling-uncertainties-and-delays"]], "Hesham Shageer - 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5, "verif": 4, "via": 4, "video": 4, "visual": [14, 19], "welcom": 0, "wenceslao": 4, "what": [2, 3], "when": 6, "word": 2, "work": 2, "world": 2, "wrapper": 5, "yaml": 5, "yong": 4, "your": 3, "yuxiao": 4, "zheng": 4, "zip": 5, "zlib": 5, "zstd": 5}}) \ No newline at end of file diff --git a/en/latest/sources/knowledge.html b/en/latest/sources/knowledge.html index cf31403..5b7cfa4 100644 --- a/en/latest/sources/knowledge.html +++ b/en/latest/sources/knowledge.html @@ -95,17 +95,260 @@

Blogs

Papers

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Aaron Ames’s publications

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This section lists some of the research publications produced by the 3Laws team:

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Videos

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This section contains videos to conference talks on the subject of control barrier function and runtime assurance.

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  • Jason Choi – Introduction to Control Lyapunov Functions and Control Barrier Functions

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This section contains a curated selection of videos to meetings, workshops and conference talks on the topics of Control Barrier Functions and Run-time Assurance.

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Control Barrier Functions

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Aaron Ames - Safety-Critical Control of Autonomous Systems

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Aaron Ames - Control Barrier Functions for Safe Robot Autonomy

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Aaron Ames - Safety-Critical Control of Dynamic Robots

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Aaron Ames - Guaranteeing Safety of Learned Perception Modules via Measurement-Robust Control Barrier Functions

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Federico Califano - Introduction to Control Barrier Functions (CBFs) and energy-based CBFs

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Georgios Fainekos - Control barrier functions & neural networks for handling risk and uncertainty in autonomous systems

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Jason Choi - Introduction to Control Lyapunov Functions and Control Barrier Functions

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Jason Choi - Robust Control Barrier-Value Functions for Safety-Critical Control

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Jason Choi - Safety Filters for Uncertain Dynamical Systems: Control Theory & Data-driven Approaches

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Lars Lindermann - Learning Hybrid Control Barrier Functions from Data

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Ruben Grandia - Multi-Layered Safety for Legged Robots via Control Barrier Functions & MPC (ICRA 2021 Presentation)

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Sander Tonkens - Refining CBFs through Hamilton-Jacobi Reachability (IROS 2022 Presentation)

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Sylvia Herbert - Connections between HJ Reachability Analysis and CBF

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Sze Zheng Yong - Robust Control Barrier Functions with Set-Membership Estimation and Learning

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Wenceslao Shaw Cortez - Differentiable Predictive Control with Safety Guarantees: A Control Barrier Function Approach

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Wenceslao Shaw Cortez - Correct-by-Design Control Barrier Functions for Euler-Lagrange Systems with Input Constraints

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Yuxiao Chen - Towards safe multiagent autonomy

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Run-Time Assurance

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Dio De Niz - Certifiable Distributed Runtime Assurance (CDRA)

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Hesham Shageer - Run-time assurance via real-time generation of trajectory and transverse dynamics regulation law

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Kerianne Hobbs - Autonomy on a Leash

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Mark Skoog - Leveraging Multi-Monitor Run-Time Assurance

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Matthew Abate - Verification and Runtime Assurance for Dynamical Systems with Uncertainty

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