Measurement-Robust Control Barrier Functions: Certainty in Safety with Uncertainty in State
Ryan K. Cosner,Andrew W. Singletary,Andrew J. Taylor,Tamas G. Molnar,Katherine L. Bouman,Aaron D. Ames,Ryan K. Cosner,Andrew W. Singletary,Andrew J. Taylor,Tamas G. Molnar,Katherine L. Bouman,Aaron D. Ames
The increasing complexity of modern robotic systems and the environments they operate in necessitates the formal consideration of safety in the presence of imperfect measurements. In this paper we propose a rigorous framework for safety-critical control of systems with erroneous state estimates. We develop this framework by leveraging Control Barrier Functions (CBFs) and unifying the method of Bac...
