[
    {
        "id": "osp-19193",
        "type": "article-journal",
        "title": "Constructive Safety-Critical Control for a Class of Underactuated Systems: A Hierarchical Approach",
        "author": [
            {
                "family": "de Sa",
                "given": "Massimiliano"
            },
            {
                "family": "Ames",
                "given": "Aaron D."
            }
        ],
        "URL": "https://omanscience.com/en/articles/constructive-safety-critical-control-for-a-class-of-underactuated-systems-a-hierarchical-approach",
        "language": "en",
        "issued": {
            "date-parts": [
                [
                    2026
                ]
            ]
        },
        "abstract": "Underactuated systems with nontrivial geometry are abundant in practical robotic problems. However, little is known about constructive safety-critical control design in the presence of underactuation. In this work, we provide a constructive framework for synthesizing safe control architectures and control barrier functions for a class of quadrotor-like underactuated systems. By studying the geometry of their underactuation, we characterize when these systems have natural layered architectures useful for safety-critical control design. Using these architectures, we devise a constructive, hierarchical CBF synthesis procedure and provide conditions under which it succeeds."
    }
]