TY  - JOUR
AU  - Cohen, Max H.
AU  - Molnár, Tamás Gábor
AU  - Ames, Aaron D.
TI  - Safety-critical control for autonomous systems: Control barrier functions via reduced-order models
JF  - ANNUAL REVIEWS IN CONTROL
J2  - ANNU REV CONTROL
VL  - 57
PY  - 2024
SN  - 1367-5788
DO  - 10.1016/j.arcontrol.2024.100947
UR  - https://m2.mtmt.hu/api/publication/34741351
ID  - 34741351
LA  - English
DB  - MTMT
ER  - 

TY  - JOUR
AU  - Alan, Anil
AU  - He, Chaozhe R.
AU  - Molnár, Tamás Gábor
AU  - Mathew, Johaan Chacko
AU  - Bell, A. Harvey
AU  - Orosz, Gábor
TI  - Integrating Safety With Performance in Connected Automated Truck Control: Experimental Validation
JF  - IEEE Transactions on Intelligent Vehicles
J2  - IEEE Transactions on Intelligent Vehicles
VL  - 9
PY  - 2024
IS  - 1
SP  - 3075
EP  - 3088
PG  - 14
SN  - 2379-8858
DO  - 10.1109/TIV.2023.3305204
UR  - https://m2.mtmt.hu/api/publication/34686317
ID  - 34686317
LA  - English
DB  - MTMT
ER  - 

TY  - JOUR
AU  - Shen, Minghao
AU  - Dollar, Robert Austin
AU  - Molnár, Tamás Gábor
AU  - He, Chaozhe R.
AU  - Vahidi, Ardalan
AU  - Orosz, Gábor
TI  - Energy-Efficient Reactive and Predictive Connected Cruise Control
JF  - IEEE Transactions on Intelligent Vehicles
J2  - IEEE Transactions on Intelligent Vehicles
VL  - 9
PY  - 2024
IS  - 1
SP  - 944
EP  - 957
PG  - 14
SN  - 2379-8858
DO  - 10.1109/TIV.2023.3281763
UR  - https://m2.mtmt.hu/api/publication/34686316
ID  - 34686316
LA  - English
DB  - MTMT
ER  - 

TY  - JOUR
AU  - Allen, Lara I.
AU  - Molnár, Tamás Gábor
AU  - Dombóvári, Zoltán
AU  - Hogan, S. John
TI  - The Effects of Delay on the HKB Model of Human Motor Coordination
JF  - SIAM JOURNAL ON APPLIED DYNAMICAL SYSTEMS
J2  - SIAM J APPL DYN SYST
VL  - 23
PY  - 2024
IS  - 1
SP  - 1
EP  - 25
PG  - 25
SN  - 1536-0040
DO  - 10.1137/22M1531518
UR  - https://m2.mtmt.hu/api/publication/34486405
ID  - 34486405
N1  - Funding Agency and Grant Number: Hungarian Academy of Sciences through its Distinguished Guest Scientist Programme
            Funding text: Funding: The fourth author received support from the Hungarian Academy of Sciences through its Distinguished Guest Scientist Programme.
LA  - English
DB  - MTMT
ER  - 

TY  - CHAP
AU  - Molnár, Tamás Gábor
AU  - Orosz, Gábor
AU  - Ames, Aaron D.
TI  - On the Safety of Connected Cruise Control: Analysis and Synthesis with Control Barrier Functions
T2  - 2023 62nd IEEE Conference on Decision and Control (CDC)
PB  - IEEE
CY  - Piscataway (NJ)
SN  - 9798350301236
PY  - 2023
SP  - 1106
EP  - 1111
PG  - 6
DO  - 10.1109/CDC49753.2023.10383336
UR  - https://m2.mtmt.hu/api/publication/34639220
ID  - 34639220
LA  - English
DB  - MTMT
ER  - 

TY  - JOUR
AU  - Molnár, Tamás Gábor
AU  - Ames, Aaron D.
TI  - Composing Control Barrier Functions for Complex Safety Specifications
JF  - IEEE CONTROL SYSTEMS LETTERS
J2  - IEEE CONTROL SYST LETT
VL  - 7
PY  - 2023
SP  - 3615
EP  - 3620
PG  - 6
SN  - 2475-1456
DO  - 10.1109/LCSYS.2023.3339719
UR  - https://m2.mtmt.hu/api/publication/34449519
ID  - 34449519
LA  - English
DB  - MTMT
ER  - 

TY  - CHAP
AU  - Molnár, Tamás Gábor
AU  - Ames, Aaron D.
TI  - Safety-Critical Control with Bounded Inputs via Reduced Order Models
T2  - 2023 American Control Conference (ACC)
PB  - IEEE
CY  - Piscataway (NJ)
SN  - 9798350328066
T3  - American Control Conference, ISSN 0743-1619
PY  - 2023
SP  - 1414
EP  - 1421
PG  - 8
UR  - https://m2.mtmt.hu/api/publication/34359625
ID  - 34359625
AB  - Guaranteeing safe behavior on complex autonomous systems-from cars to walking robots-is challenging due to the inherently high dimensional nature of these systems and the corresponding complex models that may be difficult to determine in practice. With this as motivation, this paper presents a safety-critical control framework that leverages reduced order models to ensure safety on the full order dynamics-even when these models are subject to disturbances and bounded inputs (e.g., actuation limits). To handle input constraints, the backup set method is reformulated in the context of reduced order models, and conditions for the provably safe behavior of the full order system are derived. Then, the input-to-state safe backup set method is introduced to provide robustness against discrepancies between the reduced order model and the actual system. Finally, the proposed framework is demonstrated in high-fidelity simulation, where a quadrupedal robot is safely navigated around an obstacle with legged locomotion by the help of the unicycle model.
LA  - English
DB  - MTMT
ER  - 

TY  - JOUR
AU  - Guo, Sicong
AU  - Orosz, Gábor
AU  - Molnár, Tamás Gábor
TI  - Connected Cruise and Traffic Control for Pairs of Connected Automated Vehicles
JF  - IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
J2  - IEEE T INTELL TRANSP
VL  - 24
PY  - 2023
IS  - 11
SP  - 12648
EP  - 12658
PG  - 11
SN  - 1524-9050
DO  - 10.1109/TITS.2023.3285852
UR  - https://m2.mtmt.hu/api/publication/34326699
ID  - 34326699
AB  - This paper considers mixed traffic consisting of connected automated vehicles equipped with vehicle-to-everything (V2X) connectivity and human-driven vehicles. A control strategy is proposed for communicating pairs of connected automated vehicles, where the two vehicles regulate their longitudinal motion by responding to each other, and, at the same time, stabilize the human-driven traffic between them. Stability analysis is conducted to find stabilizing controllers, and simulations are used to show the efficacy of the proposed approach. The impact of the penetration of connectivity and automation on the string stability of traffic is quantified. It is shown that, even with moderate penetration, connected automated vehicle pairs executing the proposed controllers achieve significant benefits compared to when these vehicles are disconnected and controlled independently.
LA  - English
DB  - MTMT
ER  - 

TY  - JOUR
AU  - Zhao, Chenguang
AU  - Yu, Huan
AU  - Molnár, Tamás Gábor
TI  - Safety-critical traffic control by connected automated vehicles
JF  - TRANSPORTATION RESEARCH PART C-EMERGING TECHNOLOGIES
J2  - TRANSPORT RES C-EMER
VL  - 154
PY  - 2023
SN  - 0968-090X
DO  - 10.1016/j.trc.2023.104230
UR  - https://m2.mtmt.hu/api/publication/34052516
ID  - 34052516
LA  - English
DB  - MTMT
ER  - 

TY  - JOUR
AU  - Alan, Anil
AU  - Molnár, Tamás Gábor
AU  - Ames, Aaron D.
AU  - Orosz, Gábor
TI  - Parameterized Barrier Functions to Guarantee Safety Under Uncertainty
JF  - IEEE CONTROL SYSTEMS LETTERS
J2  - IEEE CONTROL SYST LETT
VL  - 7
PY  - 2023
SP  - 2077
EP  - 2082
PG  - 6
SN  - 2475-1456
DO  - 10.1109/LCSYS.2023.3285188
UR  - https://m2.mtmt.hu/api/publication/34034213
ID  - 34034213
LA  - English
DB  - MTMT
ER  -