Related papers: Safe Autonomous Docking Maneuvers for a Floating P…
Among the intelligent safety technologies for road vehicles, active suspensions controlled by embedded computing elements for preventing rollover have received a lot of attention. The existing models for synthesizing and allocating forces…
This paper presents a novel safe control framework that integrates Sliding Mode Control (SMC), High-Order Control Barrier Functions (HOCBFs) with state-dependent adaptiveness and a lightweight projection for collision-free navigation of an…
Retinal surgery is a complex medical procedure that requires exceptional expertise and dexterity. For this purpose, several robotic platforms are currently being developed to enable or improve the outcome of microsurgical tasks. Since the…
Safe reinforcement learning has traditionally relied on predefined constraint functions to ensure safety in complex real-world tasks, such as autonomous driving. However, defining these functions accurately for varied tasks is a persistent…
This work presents a theoretical framework for the safety-critical control of time delay systems. The theory of control barrier functions, that provides formal safety guarantees for delay-free systems, is extended to systems with state…
This paper presents a new adaptive sliding mode control (SMC) framework for quadrotors that achieves robust and agile flight under tight computational constraints. The proposed controller addresses key limitations of prior SMC formulations,…
This paper introduces a novel safety-critical control method through the synthesis of control barrier functions (CBFs) for systems with high-relative-degree safety constraints. By extending the procedure of CBF backstepping, we propose…
Consider a robot operating in an uncertain environment with stochastic, dynamic obstacles. Despite the clear benefits for trajectory optimization, it is often hard to keep track of each obstacle at every time step due to sensing and…
We propose developing an integrated system to keep autonomous unmanned aircraft safely separated and behave as expected in conjunction with manned traffic. The main goal is to achieve safe manned-unmanned vehicle teaming to improve system…
This paper aims to address the open problem of designing a globally stable vision-based controller for robot manipulators. Accordingly, based on a hybrid mechanism, this paper proposes a novel task-space control law attained by taking the…
The problem of control based on vision measurements (bearings) has been amply studied in the literature; however, the problem of addressing the limits of the field of view of physical sensors has received relatively less attention…
This work proposes a strategy for organising quadrotors around a payload to enable hovering without external stimuli, together with a MATLAB software for modelling the dynamics of a quadrotor-payload system. Based on geometric concepts, the…
The periodic inspection of vessels is a fundamental task to ensure their integrity and avoid maritime accidents. Currently, these inspections represent a high cost for the ship owner, in addition to the danger that this kind of hostile…
Navigation in varied and dynamic indoor environments remains a complex task for autonomous mobile platforms. Especially when conditions worsen, typical sensor modalities may fail to operate optimally and subsequently provide inapt input for…
In this study, we present a novel sliding mode safety-critical controller designed to address both stability and safety concerns in a class of nonlinear uncertain systems. The controller features two feedback loops: an inner loop designed…
In recent years, artificial neural networks have been increasingly studied as feedback controllers for guidance problems. While effective in complex scenarios, they lack the verification guarantees found in classical guidance policies.…
This paper generalizes the control barrier function framework by replacing scalar-valued functions with matrix-valued ones. Specifically, we develop barrier conditions for safe sets defined by matrix inequalities -- both semidefinite and…
Control barrier functions are widely used to enforce safety properties in robot motion planning and control. However, the problem of constructing barrier functions online and synthesizing safe controllers that can deal with the associated…
Reliable midair docking between small unmanned aerial vehicles (UAVs) is essential for modular aerial cooperation and manipulation, but it requires precise relative-pose control and repeatable platform under tight thrust and payload…
This paper proposes a functional observer-based sliding mode control technique for position control of a single-link flexible manipulator. The proposed method considers the unmodelled system dynamics as uncertainty and aims to achieve…