Updated knowledge section

docs/sources/knowledge.rst

@@ -8,13 +8,213 @@ Blogs
 Papers
 ======
 
-`Aaron Ames's publications <http://ames.caltech.edu/>`_
+This sections summaries the research contributions made by 3Laws team:
+
+* `3D dynamic walking on stepping stones with control barrier functions <http://ames.caltech.edu/3D_Stepping_Stones.pdf>`_
+* `A Barrier-Based Scenario Approach to Verify Safety-Critical Systems <http://ames.caltech.edu/akella2022barrier.pdf>`_
+* `A Control Barrier Perspective on Episodic Learning via Projection-to-State Safety <http://ames.caltech.edu/taylor2021control.pdf>`_
+* `A scalable controlled set invariance framework with practical safety guarantees <http://ames.caltech.edu/gurriet2019scalable.pdf>`_
+* `A Scalable Safety Critical Control Framework for Nonlinear Systems <http://ames.caltech.edu/gurriet2020scalable.pdf>`_
+* `Adaptive Safety Using Control Barrier Functions and Hybrid Adaptation <http://ames.caltech.edu/maghenem2021adaptive.pdf>`_
+* `Adaptive safety with control barrier functions <http://ames.caltech.edu/taylor2019adaptive.pdf>`_
+* `An online approach to active set invariance <http://ames.caltech.edu/gurriet2018online.pdf>`_
+* `Backup Control Barrier Functions: Formulation and Comparative Study <http://ames.caltech.edu/chen2021backup.pdf>`_
+* `Barrier functions for multiagent-pomdps with dtl specifications <http://ames.caltech.edu/ahmadi2020barrier.pdf>`_
+* `Barrier functions: Bridging the gap between planning from specifications and safety-critical control <http://ames.caltech.edu/nilsson2018barrier.pdf>`_
+* `Certifying Safety for Nonlinear Time Delay Systems via Safety Functionals: A Discretization Based Approach <http://ames.caltech.edu/kiss2021certifying.pdf>`_
+* `Characterizing Safety: Minimal Control Barrier Functions From Scalar Comparison Systems <http://ames.caltech.edu/konda2021characterizing.pdf>`_
+* `Comparative Analysis of Control Barrier Functions and Artificial Potential Fields for Obstacle Avoidance <http://ames.caltech.edu/singletary2020comparative.pdf>`_
+* `Control barrier certificates for safe swarm behavior <http://bibbase.org/network/publication/borrmann-wang-ames-egerstedt-controlbarriercertificatesforsafeswarmbehavior-2015>`_
+* `Control barrier function based quadratic programs for safety critical systems <http://ames.caltech.edu/ames2017cbf.pdf>`_
+* `Control barrier function based quadratic programs with application to adaptive cruise control <http://ames.caltech.edu/CLF_QP_ACC_final.pdf>`_
+* `Control barrier function based quadratic programs with application to bipedal robotic walking <http://ames.caltech.edu/ACC_2015_CBF_final.pdf>`_
+* `Control barrier functions for sampled-data systems with input delays <http://ames.caltech.edu/singletary2020control.pdf>`_
+* `Control barrier functions: Theory and applications <http://ames.caltech.edu/ames2019control.pdf>`_
+* `Data-Driven Safety-Critical Control: Synthesizing Control Barrier Functions with Koopman Operators <http://ames.caltech.edu/folkestad2020data.pdf>`_
+* `Density Functions for Guaranteed Safety on Robotic Systems <http://ames.caltech.edu/chen2020density.pdf>`_
+* `Distributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach <http://ames.caltech.edu/ibuki2020distributed.pdf>`_
+* `Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety <http://ames.caltech.edu/csomay2021episodic.pdf>`_
+* `Formal test synthesis for safety-critical autonomous systems based on control barrier functions <http://ames.caltech.edu/akella2020formal.pdf>`_
+* `Guaranteed obstacle avoidance for multi-robot operations with limited actuation: a control barrier function approach <http://ames.caltech.edu/chen2021guaranteed.pdf>`_
+* `Guaranteeing Safety of Learned Perception Modules via Measurement-Robust Control Barrier Functions <http://ames.caltech.edu/dean2020guaranteeing.pdf>`_
+* `Input-to-State Safety with Control Barrier Functions <http://ames.caltech.edu/kolathaya2019input.pdf>`_
+* `Integral Control Barrier Functions for Dynamically Defined Control Laws <http://ames.caltech.edu/ames2020integral.pdf>`_
+* `Learning for safety-critical control with control barrier functions <http://ames.caltech.edu/taylor2020learning.pdf>`_
+* `Learning Performance Bounds for Safety-Critical Systems <http://ames.caltech.edu/rosolia2021mixed.pdf>`_
+* `Measurement-robust control barrier functions: Certainty in safety with uncertainty in state <http://ames.caltech.edu/rodriguez2022neural.pdf>`_
+* `Model-free safety-critical control for robotic systems <http://ames.caltech.edu/molnar2022model.pdf>`_
+* `Multi-layered safety for legged robots via control barrier functions and model predictive control <http://ames.caltech.edu/grandia2021multi.pdf>`_
+* `Multi-Rate Control Design Leveraging Control Barrier Functions and Model Predictive Control Policies <http://ames.caltech.edu/rosolia2021multi.pdf>`_
+* `Multi-rate control design under input constraints via fixed-time barrier functions <http://ames.caltech.edu/garg2021multi.pdf>`_
+* `Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies <http://ames.caltech.edu/rodriguez2022neural.pdf>`_
+* `Onboard safety guarantees for racing drones: High-speed geofencing with control barrier functions <http://ames.caltech.edu/singletary2022onboard.pdf>`_
+* `Online Active Safety for Robotic Manipulators. <http://ames.caltech.edu/singletary2019online.pdf>`_
+* `Online safety calculations for glide-slope recapture <http://ames.caltech.edu/GlideSlope.pdf>`_
+* `Reactive motion planning with probabilistics safety guarantees <http://ames.caltech.edu/chen2020reactive.pdf>`_
+* `Realizable Set Invariance Conditions for Cyber-Physical Systems <http://ames.caltech.edu/gurriet2019realizable.pdf>`_
+* `Risk-Averse Control via CVaR Barrier Functions: Application to Bipedal Robot Locomotion <http://ames.caltech.edu/ahmadi2022risk.pdf>`_
+* `Risk-Sensitive Path Planning via CVaR Barrier Functions: Application to Bipedal Locomotion <http://ames.caltech.edu/ahmadi2020riskBF.pdf>`_
+* `Robustness of Control Barrier Functions for Safety Critical Control <http://ames.caltech.edu/ADHS15_Final.pdf>`_
+* `Safe Backstepping with Control Barrier Functions <http://ames.caltech.edu/taylor2022safe.pdf>`_
+* `Safe Control for Nonlinear Systems with Stochastic Uncertainty via Risk Control Barrier Functions <http://ames.caltech.edu/singletary2022safe.pdf>`_
+* `Safe Controller Synthesis with Tunable Input-to-State Safe Control Barrier Functions <http://ames.caltech.edu/alan2021safe.pdf>`_
+* `Safe multi-agent interaction through robust control barrier functions with learned uncertainties <http://ames.caltech.edu/cheng2020safe.pdf>`_
+* `Safe Policy Synthesis in Multi-Agent POMDPs via Discrete-Time Barrier Functions <http://ames.caltech.edu/ahmadi2019safe.pdf>`_
+* `Safety Barrier certificates for collisions-free multirobot systems <http://ames.caltech.edu/wang2017safety.pdf>`_
+* `Safety barrier certificates for heterogeneous multi-robot systems <http://ames.caltech.edu/2016ACC_Hetero_Barrier_vFinal.pdf>`_
+* `Safety Functionals for Time Delay Systems <http://ames.caltech.edu/gurriet2019realizable.pdf>`_
+* `Safety of Sampled-Data Systems with Control Barrier Functions via Approximate Discrete Time Models <http://ames.caltech.edu/taylor2022safety.pdf>`_
+* `Safety-Aware Preference-Based Learning for Safety-Critical Control <http://ames.caltech.edu/cosner2021safety.pdf>`_
+* `Safety-critical control synthesis for network systems with control barrier functions and assume-guarantee contracts <http://ames.caltech.edu/chen2019safety.pdf>`_
+* `Safety-Critical Event Triggered Control via Input-to-State Safe Barrier Functions <http://ames.caltech.edu/taylor2021safety.pdf>`_
+* `Safety-Critical Kinematic Control of Robotic Systems <http://ames.caltech.edu/singletary2021safety.pdf>`_
+* `Safety-Critical Manipulation for Collision-Free Food Preparation <http://ames.caltech.edu/singletary2022safety.pdf>`_
+* `Safety-Critical Rapid Aerial Exploration of Unknown Environments <http://ames.caltech.edu/gurriet2020scalable.pdf>`_
+* `Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision <http://ames.caltech.edu/cosner2022self.pdf>`_
+* `SLIP Walking over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program <http://ames.caltech.edu/xiong2021slip.pdf>`_
+* `Stability and Safety through Event-Triggered Intermittent Control with Application to Spacecraft Orbit Stabilization <http://ames.caltech.edu/ong2022stability.pdf>`_
+* `Towards a framework for realizable safety critical control through active set invariance <http://ames.caltech.edu/singletary2020safety.pdf>`_
 
 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
+
+|