Related papers: Fast, Smooth, and Safe: Implicit Control Barrier F…
Control barrier functions (CBFs) have become a popular tool to enforce safety of a control system. CBFs are commonly utilized in a quadratic program formulation (CBF-QP) as safety-critical constraints. A class $\mathcal{K}$ function in CBFs…
Control Barrier Functions (CBFs) have been widely utilized in the design of optimization-based controllers and filters for dynamical systems to ensure forward invariance of a given set of safe states. While CBF-based controllers offer…
Guaranteeing safety for robotic and autonomous systems in real-world environments is a challenging task that requires the mitigation of stochastic uncertainties. Control barrier functions have, in recent years, been widely used for…
This paper presents a methodology for constructing Control Barrier Functions (CBFs) that proactively consider the future safety of a system along a nominal trajectory, and effect corrective action before the trajectory leaves a designated…
Implementing obstacle avoidance in dynamic environments is a challenging problem for robots. Model predictive control (MPC) is a popular strategy for dealing with this type of problem, and recent work mainly uses control barrier function…
Ensuring the safety of dynamical systems is crucial, where collision avoidance is a primary concern. Recently, control barrier functions (CBFs) have emerged as an effective method to integrate safety constraints into control synthesis…
Autonomous robot navigation can be particularly demanding, especially when the surrounding environment is not known and safety of the robot is crucial. This work relates to the synthesis of Control Barrier Functions (CBFs) through data for…
We present a real-time safety filter for motion planning, including those that are learning-based, using Control Barrier Functions (CBFs) to provide formal guarantees for collision avoidance with road boundaries. A key feature of our…
Providing formal safety and performance guarantees for autonomous systems is becoming increasingly important. Hamilton-Jacobi (HJ) reachability analysis is a popular formal verification tool for providing these guarantees, since it can…
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…
Road safety continues to be a pressing global issue, with vehicle collisions imposing significant human, societal, and economic burdens. Human-machine shared collision avoidance in critical collision scenarios aims to aid drivers' accident…
Hamilton-Jacobi (HJ) reachability analysis is an important formal verification method for guaranteeing performance and safety properties of dynamical control systems. Its advantages include compatibility with general nonlinear system…
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.…
Control Barrier Functions (CBFs) have proven to be an effective tool for performing safe control synthesis for nonlinear systems. However, guaranteeing safety in the presence of disturbances and input constraints for high relative degree…
Safety is always one of the most critical principles for a system to be controlled. This paper investigates a safety-critical control scheme for unknown structured systems by using the control barrier function (CBF) method. Benefited from…
This paper presents a sampled-data framework for the safe navigation of controlled agents in environments cluttered with obstacles governed by uncertain linear dynamics. Collision-free motion is achieved by combining Control Barrier…
Control barrier function (CBF)-based methods provide the minimum modification necessary to formally guarantee safety in the context of quadratic programming, and strict safety guarantee for safety critical systems. However, most CBF-related…
Control barrier functions (CBFs) have emerged as a popular topic in safety critical control due to their ability to provide formal safety guarantees for dynamical systems. Despite their powerful capabilities, the determination of feasible…
Hamilton-Jacobi reachability (HJR) provides a value function that encodes the set of states from which a system with bounded control inputs can reach or avoid a target despite any bounded disturbance, and the corresponding robust, optimal…
Real-world autonomous vehicles often operate in a priori unknown environments. Since most of these systems are safety-critical, it is important to ensure they operate safely in the face of environment uncertainty, such as unseen obstacles.…