Related papers: Automatic Generation of Ice Hockey Defensive Motio…
We present a perception-driven safety filter that converts each 3D Gaussian Splat (3DGS) into a closed-form forward collision cone, which in turn yields a first-order control barrier function (CBF) embedded within a quadratic program (QP).…
This paper tackles the problem of safe and efficient area coverage using a multi-agent system operating in environments with obstacles. Applications such as environmental monitoring and search and rescue require robot swarms to cover large…
Classifier-Free Guidance (CFG) is a cornerstone of modern conditional diffusion models, yet its reliance on the fixed or heuristic dynamic guidance weight is predominantly empirical and overlooks the inherent dynamics of the diffusion…
A game theoretic distributed decision making approach is presented for the problem of control effort allocation in a robotic team based on a novel variant of fictitious play. The proposed learning process allows the robots to accomplish…
This paper addresses a distributed leader-follower formation control problem for a group of agents, each using a body-fixed camera with a limited field of view (FOV) for state estimation. The main challenge arises from the need to…
Balancing safety and performance is one of the predominant challenges in modern control system design. Moreover, it is crucial to robustly ensure safety without inducing unnecessary conservativeness that degrades performance. In this work…
Reinforcement learning (RL) can improve control performance by seeking to learn optimal control policies in the end-use environment for vehicles and other systems. To accomplish this, RL algorithms need to sufficiently explore the state and…
This paper presents an approach to design control barrier functions (CBFs) for arbitrary state and input constraints using tools from the reference governor literature. In particular, it is shown that dynamic safety margins (DSMs) are CBFs…
Control Barrier Functions (CBFs) provide a powerful framework for ensuring safety in dynamical systems. However, their application typically relies on full state information, which is often violated in real-world due to the availability of…
Protecting against adversarial attacks is a common multiagent problem. Attackers in the real world are predominantly human actors, and the protection methods often incorporate opponent models to improve the performance when facing humans.…
A flexible active safety motion (FASM) control approach is proposed for the avoidance of dynamic obstacles and the reference tracking in robot manipulators. The distinctive feature of the proposed method lies in its utilization of control…
Active perception in uncertain environments requires robots to navigate safely while acquiring informative observations to reduce map uncertainty. These objectives inherently conflict, as informative viewpoints often lie near uncertain…
In safety-critical control systems, ensuring both system safety and smooth control input is essential for practical deployment. Existing Control Barrier Function (CBF) frameworks, especially High-Order CBFs (HOCBFs), effectively enforce…
Adaptive control has focused on online control of dynamic systems in the presence of parametric uncertainties, with solutions guaranteeing stability and control performance. Safety, a related property to stability, is becoming increasingly…
This paper presents a comprehensive approach for the safety-critical control of robotic manipulators operating in dynamic environments. Building upon the framework of Control Barrier Functions (CBFs), we extend the collision cone…
Set invariance techniques such as control barrier functions (CBFs) can be used to enforce time-varying constraints such as keeping a safe distance from dynamic objects. However, existing methods for enforcing time-varying constraints often…
Fencing is a sport where athletes engage in diverse yet strategically logical motions. While most motions fall into a few high-level actions (e.g. step, lunge, parry), the execution can vary widely-fast vs. slow, large vs. small, offensive…
Control Barrier Functions (CBFs) are a popular approach for safe control of nonlinear systems. In CBF-based control, the desired safety properties of the system are mapped to nonnegativity of a CBF, and the control input is chosen to ensure…
As autonomous systems become increasingly prevalent in daily life, ensuring their safety is paramount. Control Barrier Functions (CBFs) have emerged as an effective tool for guaranteeing safety; however, manually designing them for specific…
This paper proposes a collision avoidance method for ellipsoidal rigid bodies, which utilizes a control barrier function (CBF) designed from a supporting hyperplane. We formulate the problem in the Special Euclidean Group SE(2) and SE(3),…