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Measurement-Robust Control Barrier Functions: Certainty in Safety with Uncertainty in State

Cosner, Ryan K. and Singletary, Andrew W. and Taylor, Andrew J. and Molnar, Tamás G. and Bouman, Katherine L. and Ames, Aaron D. (2021) Measurement-Robust Control Barrier Functions: Certainty in Safety with Uncertainty in State. . (Unpublished)

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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 Backup Sets for synthesizing control invariant sets with robustness requirements -- the end result is the synthesis of Measurement-Robust Control Barrier Functions (MR-CBFs). This provides theoretical guarantees on safe behavior in the presence of imperfect measurements and improved robustness over standard CBF approaches. We demonstrate the efficacy of this framework both in simulation and experimentally on a Segway platform using an onboard stereo-vision camera for state estimation.

Item Type:Report or Paper (Discussion Paper)
Related URLs:
URLURL TypeDescription Paper
Singletary, Andrew W.0000-0001-6635-4256
Taylor, Andrew J.0000-0002-5990-590X
Molnar, Tamás G.0000-0002-9379-7121
Bouman, Katherine L.0000-0003-0077-4367
Ames, Aaron D.0000-0003-0848-3177
Additional Information:This research is supported in part by the National Science Foundation, CPS Award #1932091, as well as Aerovironment. A.J. Taylor is supported by DARPA award HR00111890035.
Funding AgencyGrant Number
Defense Advanced Research Projects Agency (DARPA)HR00111890035
Record Number:CaltechAUTHORS:20210510-141401087
Persistent URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:109060
Deposited By: George Porter
Deposited On:10 May 2021 22:32
Last Modified:10 May 2021 22:32

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