Related papers: Safety With Limited Range Sensing Constraints For …
The emerging low-altitude economy has catalyzed the large-scale deployment of unmanned aerial vehicles (UAVs), driving a paradigm shift in environment monitoring, logistics, and emergency response. However, operating within these…
The remarkable growth of unmanned aerial vehicles (UAVs) has also sparked concerns about safety measures during their missions. To advance towards safer autonomous aerial robots, this work presents a vision-based solution to ensuring safe…
Unmanned aerial vehicles (UAVs) suffer from sensor drifts in GPS denied environments, which can cause safety issues. To avoid intolerable sensor drifts while completing the time-critical coordination task for multi-UAV systems, we propose a…
This paper presents a new approach for guaranteed safety subject to input constraints (e.g., actuator limits) using a composition of multiple control barrier functions (CBFs). First, we present a method for constructing a single CBF from…
Unmanned aerial vehicles (UAV) have been recognized as a versatile platform for a wide range of services. During the flight, these vehicles must avoid collisions to operate safely. In this way, they demand to keep spatial awareness, i.e.,…
Singularities in robotic and dynamical systems arise when the mapping from control inputs to task-space motion loses rank, leading to an inability to determine inputs. This limits the system's ability to generate forces and torques in…
This paper presents an approach for navigation and control in unmapped environments under input and state constraints using a composite control barrier function (CBF). We consider the scenario where real-time perception feedback (e.g.,…
A safe controller for multicopter is proposed using control barrier function. Multicopter dynamics are reformulated to deal with mixed-relative-degree and non-strict-feedback-form dynamics, and a time-varying safe backstepping controller is…
This paper presents two control algorithms enabling a UAV to circumnavigate an unknown target using range and range rate (i.e., the derivative of range) measurements. Given a prescribed orbit radius, both control algorithms (i) tend to…
Unmanned Aerial Vehicles (UAVs) are an emerging computation platform known for their safety-critical need. In this paper, we conduct an empirical study on a widely used open-source UAV software framework, Paparazzi, with the goal of…
In recent years, Unmanned Aerial Vehicles (UAVs) have been utilized as effective platforms for carrying Wi-Fi Access Points (APs) and cellular Base Stations (BSs), enabling low-cost, agile, and flexible wireless networks with high Quality…
This paper presents a novel approach for the safe control design of systems with parametric uncertainties in both drift terms and control-input matrices. The method combines control barrier functions and adaptive laws to generate a safe…
It is quite challenging to ensure the safety of reinforcement learning (RL) agents in an unknown and stochastic environment under hard constraints that require the system state not to reach certain specified unsafe regions. Many popular…
Safety-critical control is characterized as ensuring constraint satisfaction for a given dynamical system. Recent developments in zeroing control barrier functions (ZCBFs) have provided a framework for ensuring safety of a superlevel set of…
Shared autonomy provides a framework where a human and an automated system, such as a robot, jointly control the system's behavior, enabling an effective solution for various applications, including human-robot interaction. However, a…
This letter investigates the joint sensing problem between unmanned aerial vehicles (UAV) and base stations (BS) in integrated sensing and communication (ISAC) systems with fluid antennas (FA). In this system, the BS enhances its sensing…
This paper presents converse theorems for safety in terms of barrier functions for unconstrained continuous-time systems modeled as differential inclusions. Via a counterexample, we show the lack of existence of autonomous and continuous…
By using wireless connectivity through cellular base stations (BSs), swarms of unmanned aerial vehicles (UAVs) can provide a plethora of services ranging from delivery of goods to surveillance. In particular, UAVs in a swarm can utilize…
Control barrier functions (CBFs) provide a powerful tool for enforcing safety constraints in control systems, but their direct application to complex, high-dimensional dynamics is often challenging. In many settings, safety certificates are…
Using Unmanned Aerial Vehicles (UAVs) to perform high-altitude manipulation tasks beyond just passive visual application can reduce the time, cost, and risk of human workers. Prior research on aerial manipulation has relied on either ground…