Related papers: Safety-Control of Mobile Robots Under Time-Delay U…
Safe operation of multi-robot systems is critical, especially in communication-degraded environments such as underwater for seabed mapping, underground caves for navigation, and in extraterrestrial missions for assembly and construction. We…
Safety in terms of collision avoidance for multi-robot systems is a difficult challenge under uncertainty, non-determinism and lack of complete information. This paper aims to propose a collision avoidance method that accounts for both…
In this paper, we propose a safety-critical controller based on time-varying control barrier functions (CBFs) for a robot with an unicycle model in the continuous-time domain to achieve navigation and dynamic collision avoidance. Unlike…
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 paper develops rollover prevention guarantees for mobile robots using control barrier function (CBF) theory, and demonstrates the method experimentally. We consider a safety measure based on a zero moment point condition through the…
To operate reactively in uncertain environments, robots need to be able to quickly estimate the risk that they will collide with their environment. This ability is important for both planning (to ensure that plans maintain acceptable levels…
This paper presents a formal framework for collision avoidance in multi-robot systems, wherein an existing controller is modified in a minimally invasive fashion to ensure safety. We build this framework through the use of control barrier…
In recent years, many control problems of autonomous mobile robots have been developed. In particular, the robots are required to be safe; that is, they need to be controlled to avoid colliding with people or objects while traveling. In…
The need for fully autonomous mobile robots has surged over the past decade, with the imperative of ensuring safe navigation in a dynamic setting emerging as a primary challenge impeding advancements in this domain. In this paper, a Safety…
Collision avoidance is a widely investigated topic in robotic applications. When applying collision avoidance techniques to a mobile robot, how to deal with the spatial structure of the robot still remains a challenge. In this paper, we…
Risk-aware navigation in unknown environments is a fundamental challenge for autonomous vehicles operating in complex urban systems. To address this issue, this paper presents a differentiable optimization layered safety-critical control…
In advanced manufacturing, strict safety guarantees are required to allow humans and robots to work together in a shared workspace. One of the challenges in this application field is the variety and unpredictability of human behavior,…
Established techniques that enable robots to learn from demonstrations are based on learning a stable dynamical system (DS). To increase the robots' resilience to perturbations during tasks that involve static obstacle avoidance, we propose…
In this paper, we present a solution to the problem of coordinating multiple robots across a communication channel that experiences delays. The proposed approach leverages control barrier functions in order to ensure that the multi-robot…
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,…
In modern robotics, addressing the lack of accurate state space information in real-world scenarios has led to a significant focus on utilizing visuomotor observation to provide safety assurances. Although supervised learning methods, such…
Safety of stochastic dynamic systems in environments with dynamic obstacles is studied in this paper through the lens of stochastic barrier functions. We introduce both time-invariant and time-varying barrier certificates for discrete-time,…
This paper studies the problem of enforcing safety of a stochastic dynamical system over a finite-time horizon. We use stochastic control barrier functions as a means to quantify the probability that a system exits a given safe region of…
This paper presents a framework for the safety-critical control of robotic systems, when safety is defined on safe regions in the configuration space. To maintain safety, we synthesize a safe velocity based on control barrier function…
In this paper, we propose a framework for the control of mobile robots subject to temporal logic specifications using barrier functions. Complex task specifications can be conveniently encoded using linear temporal logic. In particular, we…