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Increase in the number of space exploration missions has led to the accumulation of space debris, posing risk of collision with the operational satellites. Addressing this challenge is crucial for the sustainability of space operations. To…
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…
Satellite rendezvous and docking (RvD) maneuvers are essential for satellite servicing and in-orbit assembly. Traditional approaches often treat translational and rotational motions independently, simplifying control design but potentially…
Performing swift and agile maneuvers is essential for the safe operation of autonomous mobile robots. Moreover, the presence of time-delay restricts the response time of the system and hinders the safety performance. Thus, this paper…
Automation of berthing maneuvers in shipping is a pressing issue as the berthing maneuver is one of the most stressful tasks seafarers undertake. Berthing control problems are often tackled via tracking a predefined trajectory or path.…
Action anticipation, intent prediction, and proactive behavior are all desirable characteristics for autonomous driving policies in interactive scenarios. Paramount, however, is ensuring safety on the road -- a key challenge in doing so is…
The safety of autonomous driving systems, particularly self-driving vehicles, remains of paramount concern. These systems exhibit affine nonlinear dynamics and face the challenge of executing predefined control tasks while adhering to state…
Fault-tolerant control is crucial for safety-critical systems, such as quadrotors. State-of-art flight controllers can stabilize and control a quadrotor even when subjected to the complete loss of a rotor. However, these methods rely on…
In this paper, anti-unwinding attitude maneuver control for rigid spacecraft is considered. First, in order to avoid the unwinding phenomenon when the system states are restricted to the switching surface, a novel switching function is…
With the advent of intelligent transport, quadrotors are becoming an attractive solution while lifting or dropping payloads during emergency evacuations, construction works, etc. During such operations, dynamic variations in (possibly…
Autonomous flight of flapping-wing robots is a major challenge for robot perception. Most of the previous sense-and-avoid works have studied the problem of obstacle avoidance for flapping-wing robots considering only static obstacles. This…
Control barrier functions are mathematical constructs used to guarantee safety for robotic systems. When integrated as constraints in a quadratic programming optimization problem, instantaneous control synthesis with real-time performance…
Contact-based motion planning for manipulation, object exploration or balancing often requires finding sequences of fixed and sliding contacts and planning the transition from one contact in the environment to another. However, most…
Control tasks with safety requirements under high levels of model uncertainty are increasingly common. Machine learning techniques are frequently used to address such tasks, typically by leveraging model error bounds to specify robust…
Ensuring constraint satisfaction is a key requirement for safety-critical systems, which include most robotic platforms. For example, constraints can be used for modeling joint position/velocity/torque limits and collision avoidance.…
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…
High risk of a collision between rotor blades and the obstacles in a complex environment imposes restrictions on the aerial manipulators. To solve this issue, a novel system cable-Suspended Aerial Manipulator (SAM) is presented in this…
The safety of autonomous systems in dynamic and hazardous environments poses significant challenges. This paper presents a testing approach named SCALOFT for systematically assessing the safety of an autonomous aerial drone in a mine.…
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…
A long-cherished vision of drones is to autonomously traverse through clutter to reach every corner of the world using onboard sensing and computation. In this paper, we combine onboard 3D lidar sensing and sim-to-real reinforcement…