Fixed-Time Control Barrier Functions for Safety-Critical Control under Uncertainty

Abstract

In this talk, we will present some of our recent results and ongoing work on safety-critical control synthesis under state and time (spatiotemporal) constraints and input constraints, with some applications in multi-robot systems. The proposed framework aims to eventually develop and integrate estimation, learning and control methods towards provably-correct and computationally-efficient mission synthesis for multi-agent systems in the presence of spatiotemporal constraints and uncertainty.