Cover Image

gatekeeper: Online Safety Verification and Control for Nonlinear Systems in Dynamic Environments

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Agrawal, Devansh R, Chen, Ruichang, Panagou, Dimitra
Format:	Preprint
Published:	2022
Subjects:	Robotics Systems and Control
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Online Safety under Multiple Constraints and Input Bounds using gatekeeper: Theory and Applications
by: Agrawal, Devansh R., et al.
Published: (2025)

Multi-Agent Clarity-Aware Dynamic Coverage with Gaussian Processes
by: Agrawal, Devansh R., et al.
Published: (2024)

Autonomy Architectures for Safe Planning in Unknown Environments Under Budget Constraints
by: Cherenson, Daniel M., et al.
Published: (2025)

Online and Certifiably Correct Visual Odometry and Mapping
by: Agrawal, Devansh R, et al.
Published: (2024)

Backup-Based Safety Filters: A Comparative Review of Backup CBF, Model Predictive Shielding, and gatekeeper
by: Kim, Taekyung, et al.
Published: (2026)

Visibility-Aware RRT* for Safety-Critical Navigation of Perception-Limited Robots in Unknown Environments
by: Kim, Taekyung, et al.
Published: (2024)

A Formal gatekeeper Framework for Safe Dual Control with Active Exploration
by: Naveed, Kaleb Ben, et al.
Published: (2025)

A Constructive Method for Designing Safe Multirate Controllers for Differentially-Flat Systems
by: Agrawal, Devansh R., et al.
Published: (2024)

Multi-Agent gatekeeper: Safe Flight Planning and Formation Control for Urban Air Mobility
by: Vielmetti, Thomas Marshall, et al.
Published: (2025)

Enabling Safety for Aerial Robots: Planning and Control Architectures
by: Naveed, Kaleb Ben, et al.
Published: (2025)

Staggered Integral Online Conformal Prediction for Safe Dynamics Adaptation with Multi-Step Coverage Guarantees
by: Cherenson, Daniel M., et al.
Published: (2026)

Distributed Resilience-Aware Control in Multi-Robot Networks
by: Lee, Haejoon, et al.
Published: (2025)

Maintaining Strong r-Robustness in Reconfigurable Multi-Robot Networks using Control Barrier Functions
by: Lee, Haejoon, et al.
Published: (2024)

FORESEE: Prediction with Expansion-Compression Unscented Transform for Online Policy Optimization
by: Parwana, Hardik, et al.
Published: (2022)

Certifiably-Correct Mapping for Safe Navigation Despite Odometry Drift
by: Agrawal, Devansh R., et al.
Published: (2025)

Learning to Refine Input Constrained Control Barrier Functions via Uncertainty-Aware Online Parameter Adaptation
by: Kim, Taekyung, et al.
Published: (2024)

Beyond Collision Cones: Dynamic Obstacle Avoidance for Nonholonomic Robots via Dynamic Parabolic Control Barrier Functions
by: Park, Hun Kuk, et al.
Published: (2025)

Reformulations of Quadratic Programs for Lipschitz Continuity
by: Agrawal, Devansh R., et al.
Published: (2025)

Kalman-Bucy Filtering with Randomized Sensing: Fundamental Limits and Sensor Network Design for Field Estimation
by: Wang, Xinyi, et al.
Published: (2025)

Distributionally Robust Safety Under Arbitrary Uncertainties: A Safety Filtering Approach
by: Cherenson, Daniel M., et al.
Published: (2026)

How to Adapt Control Barrier Functions? A Learning-Based Approach with Applications to a VTOL Quadplane
by: Kim, Taekyung, et al.
Published: (2025)

Policy Library CBF: Finite-Horizon Safety at Runtime via Parallel Rollouts
by: Kim, Taekyung, et al.
Published: (2026)

Control Strategies for Pursuit-Evasion Under Occlusion Using Visibility and Safety Barrier Functions
by: Zhou, Minnan, et al.
Published: (2024)

Feasibility Analysis and Constraint Selection in Optimization-Based Controllers
by: Rousseas, Panagiotis, et al.
Published: (2025)

Safety-Critical Control with Offline-Online Neural Network Inference
by: Zhang, Junhui, et al.
Published: (2024)

Robust Safety-Critical Control for Systems with Sporadic Measurements and Dwell Time Constraints
by: Breeden, Joseph, et al.
Published: (2024)

IDCAIS: Inter-Defender Collision-Aware Interception Strategy against Multiple Attackers
by: Chipade, Vishnu S., et al.
Published: (2021)

Trajectory Planning for Safe Dual Control with Active Exploration
by: Naveed, Kaleb Ben, et al.
Published: (2026)

Feasibility Evaluation of Quadratic Programs for Constrained Control
by: Rousseas, Panagiotis, et al.
Published: (2025)

R3R: Decentralized Multi-Agent Collision Avoidance with Infinite-Horizon Safety
by: Vielmetti, Thomas Marshall, et al.
Published: (2025)

Adaptive Control Allocation for Underactuated Time-Scale Separated Non-Affine Systems
by: Cherenson, Daniel M., et al.
Published: (2025)

Dynamic Safety in Complex Environments: Synthesizing Safety Filters with Poisson's Equation
by: Bahati, Gilbert, et al.
Published: (2025)

Finite-Time Stability of Switched and Hybrid Systems with Unstable Modes
by: Garg, Kunal, et al.
Published: (2019)

Adaptive Koopman Embedding for Robust Control of Complex Nonlinear Dynamical Systems
by: Singh, Rajpal, et al.
Published: (2024)

Safety-Critical Formation Control of Non-Holonomic Multi-Robot Systems in Communication-Limited Environments
by: Bohara, Vishrut, et al.
Published: (2024)

Safety-Aware Perception for Autonomous Collision Avoidance in Dynamic Environments
by: Bena, Ryan M., et al.
Published: (2024)

Real Time Safety of Fixed-wing UAVs using Collision Cone Control Barrier Functions
by: Agarwal, Aryan, et al.
Published: (2024)

SEP-NMPC: Safety Enhanced Passivity-Based Nonlinear Model Predictive Control for a UAV Slung Payload System
by: Rezaei, Seyedreza, et al.
Published: (2026)

Reactive Robot-Centric Safety for Autonomous Navigation in Constrained and Dynamic Environments
by: Sankaranarayanan, Viswa Narayanan, et al.
Published: (2026)

Safe Control of Quadruped in Varying Dynamics via Safety Index Adaptation
by: Yun, Kai S., et al.
Published: (2024)