Related papers: Collision Avoidance for Ellipsoidal Rigid Bodies w…
Obstacle avoidance of polytopic obstacles by polytopic robots is a challenging problem in optimization-based control and trajectory planning. Many existing methods rely on smooth geometric approximations, such as hyperspheres or ellipsoids,…
This paper presents a safety-critical approach to the coordination of robots in dynamic environments. To this end, we leverage control barrier functions (CBFs) with the forward reachable set to guarantee the safe coordination of the robots…
Legged robots exhibit significant potential across diverse applications, including but not limited to hazardous environment search and rescue missions and the exploration of unexplored regions both on Earth and in outer space. However, the…
We propose a hybrid feedback control law that guarantees both safety and asymptotic stability for a class of Lagrangian systems in environments with obstacles. Rather than performing trajectory planning and implementing a…
Guiding the visually impaired in complex environments requires real-time two-way interaction and safety assurance. We propose a Force-Compliance Model Predictive Control (FC-MPC) and Robot-User Control Barrier Functions (CBFs) for…
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…
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 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…
This paper presents methodologies for constructing Control Barrier Functions (CBFs) for nonlinear, control-affine systems, in the presence of input constraints and bounded disturbances. More specifically, given a constraint function with…
This paper presents a formal framework for collision avoidance in multi-robot systems, wherein an existing controller is modified in a minimally invasive fashion to ensure safety. We build this framework through the use of control barrier…
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…
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…
Control Barrier Functions (CBFs) provide an elegant framework for constraining nonlinear control system dynamics to remain within an invariant subset of a designated safe set. However, identifying a CBF that balances performance-by…
This paper addresses the problem of safety-critical control for non-affine control systems. It has been shown that optimizing quadratic costs subject to state and control constraints can be sub-optimally reduced to a sequence of quadratic…
Whole-body reactive obstacle avoidance for mobile manipulators (MM) remains an open research problem. Control Barrier Functions (CBF), combined with Quadratic Programming (QP), have become a popular approach for reactive control with safety…
Safe control in unknown environments is a significant challenge in robotics. While Control Barrier Functions (CBFs) are widely used to guarantee system safety, they often assume known environments with predefined obstacles. The proposed…
Multi-quadrotor systems face significant challenges in decentralized control, particularly with safety and coordination under sensing and communication limitations. State-of-the-art methods leverage Control Barrier Functions (CBFs) to…
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…
Online planning of collision-free trajectories is a fundamental task for robotics and self-driving car applications. This paper revisits collision avoidance between ellipsoidal objects using differentiable constraints. Two ellipsoids do not…
In this paper, we present a novel probabilistic safe control framework for human-robot interaction that combines control barrier functions (CBFs) with conformal risk control to provide formal safety guarantees while considering complex…