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Control Lyapunov functions (CLFs) and control barrier functions (CBFs) are widely used tools for synthesizing controllers subject to stability and safety constraints.
A nullstellensatz and a positivstellensatz in semialgebraic geometry
Gilbert Stengle · 1974
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A lyapunov-like characterization of asymptotic controllability
Eduardo D Sontag · 1983
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The mosek interior point optimizer for linear programming: an implementation of the homogeneous algorithm
Erling D Andersen and Knud D Andersen · 2000
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Structured semidefinite programs and semialgebraic geometry methods in robustness and optimization
Pablo A Parrilo · 2000
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Some controls applications of sum of squares programming
Zachary Jarvis-Wloszek, Ryan Feeley, Weehong Tan, Kunpeng Sun, and Andrew Packard · 2003
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Searching for control lyapunov functions using sums of squares programming
Weehong Tan and Andrew Packard · 2004
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Robust optimization
Aharon Ben-Tal, Laurent El Ghaoui, and Arkadi Nemirovski · 2009
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Sums of squares, moment matrices and optimization over polynomials
Monique Laurent · 2009
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Numerical algebraic geometry and algebraic kinematics
Charles W Wampler and Andrew J Sommese · 2011
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Semidefinite optimization and convex algebraic geometry
Grigoriy Blekherman, Pablo A Parrilo, and Rekha R Thomas · 2012
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Full quaternion based attitude control for a quadrotor
Emil Fresk and George Nikolakopoulos · 2013
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Control design along trajectories with sums of squares programming
Anirudha Majumdar, Amir Ali Ahmadi, and Russ Tedrake · 2013
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Control barrier function based quadratic programs with application to adaptive cruise control
Aaron D Ames, Jessy W Grizzle, and Paulo Tabuada · 2014
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Convex optimization of nonlinear feedback controllers via occupation measures
Anirudha Majumdar, Ram Vasudevan, Mark M Tobenkin, and Russ Tedrake · 2014
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Torque saturation in bipedal robotic walking through control lyapunov function-based quadratic programs
Kevin Galloway, Koushil Sreenath, Aaron D Ames, and Jessy W Grizzle · 2015
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Stability analysis and control of rigid-body systems with impacts and friction
Michael Posa, Mark Tobenkin, and Russ Tedrake · 2015
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Control barrier function based quadratic programs for safety critical systems
Aaron D Ames, Xiangru Xu, Jessy W Grizzle, and Paulo Tabuada · 2016
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Dynamic walking on stepping stones with gait library and control barrier functions
Quan Nguyen, Xingye Da, JW Grizzle, and Koushil Sreenath · 2020
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Learning control barrier functions from expert demonstrations
Alexander Robey, Haimin Hu, Lars Lindemann, Hanwen Zhang, Dimos V Dimarogonas, Stephen Tu, and Nikolai Matni · 2020
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Sampling quotient-ring sum-of-squares programs for scalable verification of nonlinear systems
Shen Shen and Russ Tedrake · 2020
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Verification and synthesis of control barrier functions
Andrew Clark · 2021
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Safety-critical control using optimal-decay control barrier function with guaranteed point-wise feasibility
Jun Zeng, Bike Zhang, Zhongyu Li, and Koushil Sreenath · 2021
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End-to-end safe reinforcement learning through barrier functions for safety-critical continuous control tasks
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Underactuated robotics: Learning, planning, and control for efficient and agile machines course notes for mit 6.832
Russ Tedrake
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Jun Zeng, Bike Zhang, and Koushil Sreenath · 2021
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Safe nonlinear control using robust neural lyapunov-barrier functions
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