Related papers: Control Barrier Functions in UGVs for Kinematic Ob…
Control barrier functions (CBFs) recently introduced a systematic way to guarantee the system's safety through set invariance. Together with a nominal control method, it establishes a safety-critical control mechanism. The resulting safety…
This paper addresses the challenge of ensuring safety in stochastic control systems with high-relative-degree constraints, while maintaining feasibility and mitigating conservatism in risk evaluation. Control Barrier Functions (CBFs)…
Control Barrier Functions (CBFs) have emerged as efficient tools to address the safe navigation problem for robot applications. However, synthesizing informative and obstacle motion-aware CBFs online using real-time sensor data remains…
Control barrier functions (CBFs) offer a powerful tool for enforcing safety specifications in control synthesis. This paper deals with the problem of constructing valid CBFs. Given a second-order system and any desired safety set with…
This paper presents a novel approach for synthesizing control barrier functions (CBFs) from high relative degree safety constraints: Rectified CBFs (ReCBFs). We begin by discussing the limitations of existing High-Order CBF approaches and…
This paper proposes a safety controller for control-affine nonlinear systems with unmodelled dynamics and disturbances to improve closed-loop robustness. Uncertainty estimation-based control barrier functions (CBFs) are utilized to ensure…
Safe navigation in unknown and cluttered environments remains a challenging problem in robotics. Model Predictive Contour Control (MPCC) has shown promise for performant obstacle avoidance by enabling precise and agile trajectory tracking,…
To navigate complex environments, robots must increasingly use high-dimensional visual feedback (e.g. images) for control. However, relying on high-dimensional image data to make control decisions raises important questions; particularly,…
Polygonal collision avoidance (PCA) is short for the problem of collision avoidance between two polygons (i.e., polytopes in planar) that own their dynamic equations. This problem suffers the inherent difficulty in dealing with non-smooth…
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…
To enable flexible, high-throughput automation in settings where people and robots share workspaces, collaborative robotic cells must reconcile stringent safety guarantees with the need for responsive and effective behavior. A dynamic…
This letter addresses the constraint compatibility problem of control barrier functions (CBFs), which occurs when a safety-critical CBF requires a system to apply more control effort than it is capable of generating. This inevitably leads…
Safety-critical whole-body robot control demands reactive methods that ensure collision avoidance in real-time. Complementarity constraints and control barrier functions (CBF) have emerged as core tools for ensuring such safety constraints,…
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…
In this paper we present the implementation of a Control Barrier Function (CBF) using a quadratic program (QP) formulation that provides obstacle avoidance for a robotic manipulator arm system. CBF is a control technique that has emerged…
In fields such as mining, search and rescue, and archaeological exploration, ensuring real-time, collision-free navigation of robots in confined, cluttered environments is imperative. Despite the value of established path planning…
This paper introduces a Time Shift Governor (TSG)-guided Model Predictive Controller with Control Barrier Functions (CBFs)-based constraints for adaptive cruise control (ACC). This MPC-CBF approach is defined for obstacle-free curved road…
Platooning can serve as an effective management measure for connected and autonomous vehicles (CAVs) to ensure overall traffic efficiency. Current study focus on the longitudinal control of CAV platoons, however it still remains a…
Control barrier functions (CBFs) have a well-established theory in Euclidean spaces, yet still lack general formulations and constructive synthesis tools for systems evolving on manifolds common in robotics and aerospace applications. In…
Construction automation increasingly requires autonomous mobile robots, yet robust autonomy remains challenging on construction sites. These environments are dynamic and often visually occluded, which complicates perception and navigation.…