Workshop 14

Organizers: Gennaro Notomista, Yorai Wardi

Location: Orchid Main 4301AB

Abstract: The modern formulation of control barrier functions was introduced about a decade ago with the goal of providing a computationally efficient way of ensuring safety of dynamical systems, intended as the controlled invariance of a subset of the system state space. Since then, we have witnessed a tremendous amount of developments related to several aspects of controllers defined leveraging control barrier functions and optimization-based methods. These aspects include the feasibility, robustness, adaptivity of the approach, but also the extensions of safety-critical controllers to many different domains, such as robotics, aerospace, but also economics and epidemiology.

This workshop aims at summarizing recent findings related to control barrier functions and providing a venue for the control community to discuss relevant and promising future research directions to pursue. This objective will be achieved through a proposed workshop program that features (i) invited talks given by experts in the field of control barrier functions, (ii) an interactive poster session during which workshop attendees will have the possibility of showing their latest findings, and (iii) a panel session where future research directions will be highlighted and discussed involving both selected panelists and the workshop attendees.

Lecture Schedule: 

9:00 – 9:10                  Welcome.

9:10 – 9:40                  Magnus Egerstedt.  Mutualistic Interactions in Heterogeneous Multi-Robot Systems. 

9:40 – 10:30                Ryan Cosner.  CBF-based Safety for Real-World Robotic Systems.

10:30 – 11:00              Coffee break.

11:00 – 12:00              Erlend A. Basso and Aurora Haraldsen.  

Guidance schemes for underactuated marine vehicles with safety guarantees using control barrier functions.

12:00 – 1:30                Lunch break.

1:30 – 2:30                  Christos Cassandras.  

Guaranteed Safe Autonomous Cooperative and Uncooperative Multi-agent Systems with Control Barrier Functions.

2:30 – 3:15                  Takeshi Hatanaka.   Constraint-based control of multi-drone systems towards smarter agriculture.

3:15 – 3:40                  Coffee break.

3:40 – 4:30                  Kyriakos Vamvoudakis.   Fixed-Time Convergent Safe Reinforcement Learning.

4:30 – 5:20                  Yorai Wardi.   Integral CBF for dynamic controllers and tracking applications.

5:20 – 6:00                  Conclusions and discussion.

Lecture Abstracts: Click to Download