Related papers: Whole-body Dynamic Collision Avoidance with Time-v…
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…
Control Barrier Functions (CBF) are widely used to enforce the safety-critical constraints on nonlinear systems. Recently, these functions are being incorporated into a path planning framework to design safety-critical path planners.…
This paper studies the design of controllers that guarantee stability and safety of nonlinear control affine systems with parametric uncertainty in both the drift and control vector fields. To this end, we introduce novel classes of robust…
This paper investigates the design of a subclass of time-varying Control Barrier Functions (CBFs), specifically that of uniformly time-varying CBFs. Leveraging the fact that CBFs encode a system's dynamic capabilities relative to a state…
Safe control in dynamic traffic environments remains a major challenge for autonomous vehicles (AVs), as ego vehicle and obstacle states are inherently affected by sensing noise and estimation uncertainty. However, existing studies have not…
This paper presents a framework for enabling safe velocity control of general robotic systems using data-driven model-free Control Barrier Functions (CBFs). Model-free CBFs rely on an exponentially stable velocity controller and a design…
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,…
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…
Control Lyapunov Functions (CLFs) and Control Barrier Functions (CBFs) can be combined, typically by means of Quadratic Programs (QPs), to design controllers that achieve performance and safety objectives. However, a significant limitation…
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…
Collision avoidance in heterogeneous fleets of uncrewed vessels is challenging because the decision-making processes and controllers often differ between platforms, and it is further complicated by the limitations on sharing trajectories…
Safe autonomous navigation in unknown environments remains a critical challenge for robots with limited sensing capabilities. While safety-critical control techniques, such as Control Barrier Functions (CBFs), have been proposed to ensure…
Sampling-based motion planning methods for manipulators in crowded environments often suffer from expensive collision checking and high sampling complexity, which make them difficult to use in real time. To address this issue, we propose a…
High-dimensional robot dynamic trajectory planning poses many challenges for traditional planning algorithms. Existing planning methods suffer from issues such as long computation times, limited capacity to address intricate obstacle…
The paper focuses on the design of a control strategy for safety-critical remote teleoperation. The main goal is to make the controlled system track the desired velocity specified by an operator while avoiding obstacles despite…
To navigate complex environments, robots must increasingly use high-dimensional visual feedback (e.g. images) for control. However, relying on high-dimensional image data to make control decisions raises important questions; particularly,…
We present a system for collision-free control of a robot manipulator that uses only RGB views of the world. Perceptual input of a tabletop scene is provided by multiple images of an RGB camera (without depth) that is either handheld or…
The integration of autonomous mobile robots (AMRs) in industrial environments, particularly warehouses, has revolutionized logistics and operational efficiency. However, ensuring the safety of human workers in dynamic, shared spaces remains…
Safety is of paramount importance in control systems to avoid costly risks and catastrophic damages. The control barrier function (CBF) method, a promising solution for safety-critical control, poses a new challenge of enhancing control…
Polygonal collision avoidance (PCA) is short for the problem of collision avoidance between two polygons (i.e., polytopes in planar) that own their dynamic equations. This problem suffers the inherent difficulty in dealing with non-smooth…