Related papers: Control Barrier Functions for Systems with High Re…
Control barrier functions (CBFs) are widely used in safety-critical controllers. However, constructing a valid CBF is challenging, especially under nonlinear or non-convex constraints and for high relative degree systems. Meanwhile, finding…
Safe real-time control of robotic manipulators in unstructured environments requires handling numerous safety constraints without compromising task performance. Traditional approaches, such as artificial potential fields (APFs), suffer from…
With the increasing complexity of real-world systems and varying environmental uncertainties, it is difficult to build an accurate dynamic model, which poses challenges especially for safety-critical control. In this paper, a learning-based…
Control Barrier Functions (CBFs) is an important tool used to address situations with multiple concurrent control objectives, such as safety and goal convergence. In this paper we investigate the similarities between CBFs and so-called…
Control barrier functions (CBFs) have recently been introduced as a systematic tool to ensure safety by establishing set invariance. When combined with a control Lyapunov function (CLF), they form a safety-critical control mechanism.…
Control barrier functions (CBFs) have been widely applied to safety-critical robotic applications. However, the construction of control barrier functions for robotic systems remains a challenging task. Recently, collision detection using…
This paper addresses the challenge of ensuring safety and feasibility in control systems using Control Barrier Functions (CBFs). Existing CBF-based Quadratic Programs (CBF-QPs) often encounter feasibility issues due to mixed relative degree…
Control barrier functions (CBFs) are a powerful tool for synthesizing safe control actions; however, constructing CBFs remains difficult for general nonlinear systems. In this work, we provide a constructive framework for synthesizing CBFs…
Designing safety-critical controllers for acceleration-controlled unicycle robots is challenging, as control inputs may not appear in the constraints of control Lyapunov functions(CLFs) and control barrier functions (CBFs), leading to…
Control barrier functions (CBFs) have emerged as a popular topic in safety critical control due to their ability to provide formal safety guarantees for dynamical systems. Despite their powerful capabilities, the determination of feasible…
This paper introduces the notion of an Input Constrained Control Barrier Function (ICCBF), as a method to synthesize safety-critical controllers for non-linear control affine systems with input constraints. The method identifies a subset of…
Merely pursuing performance may adversely affect the safety, while a conservative policy for safe exploration will degrade the performance. How to balance the safety and performance in learning-based control problems is an interesting yet…
Learning-based control has recently shown great efficacy in performing complex tasks for various applications. However, to deploy it in real systems, it is of vital importance to guarantee the system will stay safe. Control Barrier…
Physical human-robot interaction offers the potential to leverage human intelligence and robot physical capabilities to enable a range of exciting applications, e.g., collaborative robots for rehabilitation. Safety is critical for the…
In safety-critical control systems, ensuring both safety and feasibility under sampled-data implementations is crucial for practical deployment. Existing Control Barrier Function (CBF) frameworks, such as High-Order CBFs (HOCBFs),…
In collaborative human-robot environments, the unpredictable and dynamic nature of human motion can lead to situations where collisions become unavoidable. In such cases, it is essential for the robotic system to proactively mitigate…
Dynamic obstacle avoidance is a challenging topic for optimal control and optimization-based trajectory planning problems. Many existing works use Control Barrier Functions (CBFs) to enforce safety constraints for control systems. CBFs are…
In this paper, we introduce a class of future-focused control barrier functions (ff-CBF) aimed at improving traditionally myopic CBF based control design and study their efficacy in the context of an unsignaled four-way intersection…
Ensuring the safety of complex dynamical systems often relies on Hamilton-Jacobi (HJ) Reachability Analysis or Control Barrier Functions (CBFs). Both methods require computing a function that characterizes a safe set that can be made…
Control Lyapunov Functions (CLFs) and Control Barrier Functions (CBFs) can be combined, typically by means of Quadratic Programs (QPs), to design controllers that achieve performance and safety objectives. However, a significant limitation…