Related papers: Real-time Perceptive Motion Control using Control …
This paper addresses the problem of steering a robotic vehicle along a geometric path specified with respect to a reference frame moving in three dimensions, termed the Moving Path Following (MPF) motion control problem. The MPF motion…
In the field of control engineering, the connection between Signal Temporal Logic (STL) and time-varying Control Barrier Functions (CBF) has attracted considerable attention. CBFs have demonstrated notable success in ensuring the safety of…
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…
Recent advances allow for the automation of food preparation in high-throughput environments, yet the successful deployment of these robots requires the planning and execution of quick, robust, and ultimately collision-free behaviors. In…
A motion planning methodology based on the combination of Control Barrier Functions (CBF) and Signal Temporal Logic (STL) is employed in this paper. This methodology allows task completion at any point within a specified time interval,…
This study proposes novel control methods that lower impact force by preemptive movement and smoothly transition to conventional contact impedance control. These suggested techniques are for force control-based robots and position/velocity…
In this paper, we consider a way to safely navigate the robots in unknown environments using measurement data from sensory devices. The control barrier function (CBF) is one of the promising approaches to encode safety requirements of the…
This paper develops rollover prevention guarantees for mobile robots using control barrier function (CBF) theory, and demonstrates the method experimentally. We consider a safety measure based on a zero moment point condition through the…
We introduce a novel method for mobile robot navigation in dynamic, unknown environments, leveraging onboard sensing and distributionally robust optimization to impose probabilistic safety constraints. Our method introduces a…
This paper addresses a distributed leader-follower formation control problem for a group of agents, each using a body-fixed camera with a limited field of view (FOV) for state estimation. The main challenge arises from the need to…
In this paper, we propose a method to avoid "no-solution" situations of the control barrier function (CBF) for distributed collision avoidance in a multiagent autonomous robotic system (MARS). MARS, which is composed of distributed…
Collision avoidance is key for mobile robots and agents to operate safely in the real world. In this work we present SAFER, an efficient and effective collision avoidance system that is able to improve safety by correcting the control…
In safety-critical control systems, ensuring both safety and feasibility under sampled-data implementations is crucial for practical deployment. Existing Control Barrier Function (CBF) frameworks, such as High-Order CBFs (HOCBFs),…
Many approaches to multi-robot coordination are susceptible to failure due to communication loss and uncertainty in estimation. We present a real-time communication-free distributed navigation algorithm certified by control barrier…
Safe navigation of autonomous robots remains one of the core challenges in the field, especially in dynamic and uncertain environments. One of the prevalent approaches is safety filtering based on control barrier functions (CBFs), which are…
This paper combines episodic learning and control barrier functions in the setting of bipedal locomotion. The safety guarantees that control barrier functions provide are only valid with perfect model knowledge; however, this assumption…
As robots operate in increasingly complex and dynamic environments, fast motion re-planning has become a widely explored area of research. In a real-world deployment, we often lack the ability to fully observe the environment at all times,…
Safety is a central requirement for autonomous system operation across domains. Hamilton-Jacobi (HJ) reachability analysis can be used to construct "least-restrictive" safety filters that result in infrequent, but often extreme, control…
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…
In advanced manufacturing, strict safety guarantees are required to allow humans and robots to work together in a shared workspace. One of the challenges in this application field is the variety and unpredictability of human behavior,…