Related papers: Safety With Limited Range Sensing Constraints For …
This paper presents two new control approaches for guaranteed safety (remaining in a safe set) subject to actuator constraints (the control is in a convex polytope). The control signals are computed using real-time optimization, including…
Control Barrier Functions (CBFs) can provide provable safety guarantees for dynamic systems. However, finding a valid CBF for a system of interest is often non-trivial, especially for systems having low computational resources, higher-order…
Reinforcement Learning (RL) has enabled vast performance improvements for robotics systems. To achieve these results though, the agent often must randomly explore the environment, which for safety critical systems presents a significant…
Safety-critical failures often have fatal consequences in aerospace control. Control systems on aircraft, therefore, must ensure the strict satisfaction of safety constraints, preferably with formal guarantees of safe behavior. This paper…
Control barrier functions (CBFs) offer a powerful tool for enforcing safety specifications in control synthesis. This paper deals with the problem of constructing valid CBFs. Given a second-order system and any desired safety set with…
This paper details the theory and implementation behind practically ensuring safety of remotely piloted racing drones. We demonstrate robust and practical safety guarantees on a 7" racing drone at speeds exceeding 100 km/h, utilizing only…
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…
Unmanned aerial vehicles (UAVs), specifically quadrotors, have revolutionized various industries with their maneuverability and versatility, but their safe operation in dynamic environments heavily relies on effective collision avoidance…
The high mobility of unmanned aerial vehicles (UAVs) enables them to be used in various civilian fields, such as rescue and cargo transport. Path-following is a crucial way to perform these tasks while sensing and collision avoidance are…
A tracking controller for unmanned aerial vehicles (UAVs) is developed to track moving targets undergoing unknown translational and rotational motions. The main challenges are to control both the relative positions and angles between the…
Control barrier functions guarantee safety but typically require accurate system models. Parametric uncertainty invalidates these guarantees. Existing robust methods maintain safety via worst-case bounds, limiting performance, while modular…
Barrier function-based inequality constraints are a means to enforce safety specifications for control systems. When used in conjunction with a convex optimization program, they provide a computationally efficient method to enforce safety…
This paper presents a new control approach for guaranteed safety (remaining in a safe set) subject to actuator constraints (the control is in a convex polytope). The control signals are computed using real-time optimization, including…
Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent glass obstacles present significant challenges to reliable navigation. Researchers have investigated the use of non-contact sensors and…
Control barrier functions have been demonstrated to be a useful method of ensuring constraint satisfaction for a wide class of controllers, however existing results are mostly restricted to continuous time systems of relative degree one.…
A fundamental and classical problem in mobile autonomous systems is maintaining the safety of autonomous agents during deployment. Prior literature has presented techniques using control barrier functions (CBFs) to achieve this goal. These…
Fixed-wing unmanned aerial vehicles (UAVs) are of great potential to serve as aerial access points (APs) owing to better aerodynamic performance and longer flight endurance. However, the inherent hovering feature of fixed-wing UAVs may…
This paper presents a novel control method for a group of UAVs in obstacle-laden environments while preserving sensing network connectivity without data transmission between the UAVs. By leveraging constraints rooted in control barrier…
This article presents a three-dimensional nonlinear trajectory tracking control strategy for unmanned aerial vehicles (UAVs) in the presence of spatial constraints. As opposed to many existing control strategies, which do not consider…
Safe autonomy is a critical requirement and a key enabler for robots to operate safely in unstructured complex environments. Control barrier functions and safe motion corridors are two widely used but technically distinct safety methods,…