Related papers: Constructive barrier feedback for collision avoida…
The objective of this research is to enable safety-critical systems to simultaneously learn and execute optimal control policies in a safe manner to achieve complex autonomy. Learning optimal policies via trial and error, i.e., traditional…
Efficient navigation in dynamic environments is crucial for autonomous robots interacting with moving agents and static obstacles. We present a novel deep reinforcement learning approach that improves robot navigation and interaction with…
We propose a novel cooperative herding strategy through backstepping control barrier functions (CBFs), which coordinates multiple herders to herd a group of evaders safely towards a designated goal region. For the herding system with…
Control barrier functions (CBFs) are a popular approach to design feedback laws that achieve safety guarantees for nonlinear systems. The CBF-based controller design relies on the availability of a model to select feasible inputs from the…
Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This report is mainly concerned with provable collision avoidance of multiple autonomous vehicles…
Complex tasks require human collaboration since robots do not have enough dexterity. However, robots are still used as instruments and not as collaborative systems. We are introducing a framework to ensure safety in a human-robot…
We design and experimentally evaluate a hybrid safe-by-construction collision avoidance controller for autonomous vehicles. The controller combines into a single architecture the respective advantages of an adaptive controller and a…
In this paper we present a hybrid feedback approach to solve the navigation problem of a point mass in the n-dimensional space containing an arbitrary number of ellipsoidal shape obstacles. The proposed hybrid control algorithm guarantees…
This paper introduces a distributed control method for multi-agent robotic systems employing Over the Air Consensus (OtA-Consensus). Designed for agents with decoupled single-integrator dynamics, this approach aims at efficient formation…
We present a general approach for controlling robotic systems that make and break contact with their environments. Contact-implicit model predictive control (CI-MPC) generalizes linear MPC to contact-rich settings by utilizing a bi-level…
This work proposes a novel 2-D formation control scheme for acyclic triangulated directed graphs (a class of minimally acyclic persistent graphs) based on bipolar coordinates with (almost) global convergence to the desired shape. Prescribed…
This paper studies a leader-follower formation tracking problem where the leaders are moving at the same unknown bounded velocity. A distance-based control law is proposed for follower agents to maintain the desired distances in the…
Adaptive Cruise Control has seen significant advancements, with Collaborative Adaptive Cruise Control leveraging Vehicle-to-Vehicle communication to enhance coordination and stability. However, the reliance on stable communication channels…
In this paper, we propose a safety-critical controller based on time-varying control barrier functions (CBFs) for a robot with an unicycle model in the continuous-time domain to achieve navigation and dynamic collision avoidance. Unlike…
In this paper, a distributed tracking control scheme with distributed estimators has been developed for a leader-follower multi-agent system with measurement noises and directed interconnection topology. It is supposed that each follower…
Multi-robot formation control enables robots to cooperate as a working group in completing complex tasks, which has been widely used in both civilian and military scenarios. Before moving to reach a given formation, each robot should choose…
This paper proposes a unified control framework based on Response-Aware Risk-Constrained Control Barrier Function for dynamic safety boundary control of vehicles. Addressing the problem of physical model parameter mismatch, the framework…
We present Multi-Agent gatekeeper, a framework that provides provable safety guarantees for leader-follower formation control in cluttered 3D environments. Existing methods face a trad-off: online planners and controllers lack formal safety…
Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in…
This Technical Note presents a simple control approach for global trajectory tracking and formation control of underactuated surface vessels equipped with only two propellers. The control approach exploits the inherent cascaded structure of…