arXiv subjects

Rahal Nanayakkara

Publications and source records attributed to Rahal Nanayakkara.

5 recordsLinked to original sources

arXiv2026

Safety Under State Uncertainty: Robustifying Control Barrier Functions

Safety-critical control is a crucial aspect of modern systems, and Control Barrier Functions (CBFs) have gained popularity as the framework of choice for ensuring safety. However, implementing a CBF requires exact knowledge of the true state, a requirement that is often violated in real-world applications where only noisy or estimated state information is available. This paper introduces the notion of Robust Control Barrier Functions (R-CBF) for ensuring safety under such state uncertainty. Crucially, this framework does not require knowledge of the magnitude of uncertainty for the synthesis of a robust safe controller. We formally characterize the class of robustifying terms that ensure robust closed-loop safety and show how a robustly safe controller can be constructed. We demonstrate the effectiveness of this approach through simulations and compare it to existing methods, highlighting the additional robustness and convergence guarantees it provides.

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arXiv2026

A Recursive CBF Framework for Safety under State Uncertainty

The practical implementation of Control Barrier Functions (CBFs) for safety-critical control is often hindered by uncertainty in the knowledge of the state. While existing robust CBF methods address state uncertainty, they often lack recursive feasibility guarantees or fail when uncertainty levels are high, allowing the system to enter regions where no safe control input exists. To resolve this, we propose a novel framework of enforcing recursive CBFs. Rather than merely ensuring the invariance of the original safe set, this approach enforces the forward invariance of a subset of the safe region where a robustly safe control input is guaranteed to exist. This holistic framework ensures that the system never strays into ambiguous regions, providing continued feasibility and safety guarantees, regardless of the level of state uncertainty.

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arXiv2026

Predicting Viral Evolution from a Single Early Measurement Using the Target Cell Limited Model

Recent advances in diagnostic techniques have enabled the accurate quantification of early-stage viral loads. A key problem of interest is translating these measurements into predictive clinical insights, such as forecasting a patient's onset of infectiousness and peak infection severity. In this work, we address this problem using the Target Cell Limited (TCL) model. Because the host's internal biological states are practically unobservable, predicting the viral trajectory from a single noisy viral load measurement is highly nontrivial. To overcome this, we introduce a novel coordinate transformation that converts the nonlinear viral dynamics into a monotone system. By leveraging monotone systems theory and taking into account invariant subspaces of the transformed system, we derive explicit analytical formulae that establish a strict upper bound on the peak viral load and a guaranteed lower bound on the time to infectiousness using a single early viral observation.

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arXiv2026

A Duality-Based Optimization Formulation of Safe Control Design with State Uncertainties

State estimation uncertainty is prevalent in real-world applications, hindering the application of safety-critical control. Existing methods address this by strengthening a Control Barrier Function (CBF) condition either to handle actuation errors induced by state uncertainty, or to enforce stricter, more conservative sufficient conditions. In this work, we take a more direct approach and formulate a robust safety filter by analyzing the image of the set of all possible states under the CBF dynamics. We first prove that convexifying this image set does not change the set of possible inputs. Then, by leveraging duality, we propose an equivalent and tractable reformulation for cases where this convex hull can be expressed as a polytope or ellipsoid. Simulation results show the approach in this paper to be less conservative than existing alternatives.

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arXiv2026

Safe Navigation under State Uncertainty: Online Adaptation for Robust Control Barrier Functions

Measurements and state estimates are often imperfect in control practice, posing challenges for safety-critical applications, where safety guarantees rely on accurate state information. In the presence of estimation errors, several prior robust control barrier function (R-CBF) formulations have imposed strict conditions on the input. These methods can be overly conservative and can introduce issues such as infeasibility, high control effort, etc. This work proposes a systematic method to improve R-CBFs, and demonstrates its advantages on a tracked vehicle that navigates among multiple obstacles. A primary contribution is a new optimization-based online parameter adaptation scheme that reduces the conservativeness of existing R-CBFs. In order to reduce the complexity of the parameter optimization, we merge several safety constraints into one unified numerical CBF via Poisson's equation. We further address the dual relative degree issue that typically causes difficulty in vehicle tracking. Experimental trials demonstrate the overall performance improvement of our approach over existing formulations.

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