Related papers: Asymmetric Design of Control Barrier Function for …
This work combines control barrier functions (CBFs) with a whole-body controller to enable self-collision avoidance for the MIT Humanoid. Existing reactive controllers for self-collision avoidance cannot guarantee collision-free…
This paper proposes a fair control framework for multi-robot systems, which integrates the newly introduced Alternative Authority Control (AAC) and Flexible Control Barrier Function (F-CBF). Control authority refers to a single robot which…
This work presents a unified approach for collision avoidance using Collision-Cone Control Barrier Functions (CBFs) in both ground (UGV) and aerial (UAV) unmanned vehicles. We propose a novel CBF formulation inspired by collision cones, to…
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…
Safety is one of the most important properties of control systems. Sensor faults and attacks and actuator failures may cause errors in the sensor measurements and system dynamics, which leads to erroneous control inputs and hence safety…
Obstacle avoidance is central to safe navigation, especially for robots with arbitrary and nonconvex geometries operating in cluttered environments. Existing Control Barrier Function (CBF) approaches often rely on analytic clearance…
This paper presents a feasibility-enhanced control barrier function (FECBF) framework for multi-UAV collision avoidance. In dense multi-UAV scenarios, the feasibility of the CBF quadratic program (CBF-QP) can be compromised due to internal…
In collaborative human-robot environments, the unpredictable and dynamic nature of human motion can lead to situations where collisions become unavoidable. In such cases, it is essential for the robotic system to proactively mitigate…
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 addresses the challenge of safe navigation for rigid-body mobile robots in dynamic environments. We introduce an analytic approach to compute the distance between a polygon and an ellipse, and employ it to construct a control…
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…
Autonomy advances have enabled robots in diverse environments and close human interaction, necessitating controllers with formal safety guarantees. This paper introduces an experimental platform designed for the validation and demonstration…
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…
Applications that require multi-robot systems to operate independently for extended periods of time in unknown or unstructured environments face a broad set of challenges, such as hardware degradation, changing weather patterns, or…
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.…
Incorporating both flexible and rigid components in robot designs offers a unique solution to the limitations of traditional rigid robotics by enabling both compliance and strength. This paper explores the challenges and solutions for…
This paper presents a new control barrier function (CBF) designed to improve the efficiency of collision avoidance for nonholonomic vehicles. Traditional CBFs typically rely on the shortest Euclidean distance to obstacles, overlooking the…
We propose distributed iterative algorithms for safe control design and safety verification for networked multi-agent systems. These algorithms rely on distributing a control barrier function (CBF) related quadratic programming (QP) problem…
Designing safety-critical controllers for acceleration-controlled unicycle robots is challenging, as control inputs may not appear in the constraints of control Lyapunov functions(CLFs) and control barrier functions (CBFs), leading to…
Multi-robot systems (MRS) are essential for large-scale applications such as disaster response, material transport, and warehouse logistics, yet ensuring robust, safety-aware formation control in cluttered and dynamic environments remains a…