Abstract: This paper introduces the notion of an Input Constrained Control Barrier Function (ICCBF), as a method to synthesize safety-critical controllers for nonlinear control-affine systems with ...

Evals are not a silver bullet. They give you the ability to bound the blast radius of a change in the only way available when ...

Scalene is a high-performance CPU, GPU and memory profiler for Python that does a number of things that other Python profilers do not and cannot do. It runs orders of magnitude faster than many other ...

Abstract: Balancing safety and performance is one of the predominant challenges in modern control system design. Moreover, it is crucial to robustly ensure safety without inducing unnecessary ...