Related papers: Control Barrier Function Based UAV Safety Controll…

Unmanned aerial vehicles (UAVs), specifically quadrotors, have revolutionized various industries with their maneuverability and versatility, but their safe operation in dynamic environments heavily relies on effective collision avoidance…

Fixed-wing UAVs have transformed the transportation system with their high flight speed and long endurance, yet their safe operation in increasingly cluttered environments depends heavily on effective collision avoidance techniques. This…

This article introduces a safe control strategy for application of forces to an external object using a dexterous robotic arm mounted on an unmanned Aerial Vehicle (UAV). A hybrid force-motion controller has been developed for this purpose.…

Consider an unmanned aerial vehicle (UAV) physically connected to the ground station with a tether operating in a space, tasked with performing precise maneuvers while constrained by the physical limitation of its tether, which prevents it…

A tracking controller for unmanned aerial vehicles (UAVs) is developed to track moving targets undergoing unknown translational and rotational motions. The main challenges are to control both the relative positions and angles between the…

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…

This paper introduces a method for effectively controlling the movement of an Unmanned Aerial Vehicle (UAV) within a tunnel. The primary challenge of this problem lies in the UAV's exposure to nonlinear distance-dependent torques and forces…

Safe control for inherently unstable systems such as quadrotors is crucial. Imposing multiple dynamic constraints simultaneously on the states for safety regulation can be a challenging problem. In this paper, we propose a quadratic…

In this article, we present a centralized approach for the control of multiple unmanned aerial vehicles (UAVs) for landing on moving unmanned ground vehicles (UGVs) using control barrier functions (CBFs). The proposed control framework…

This paper presents a comprehensive approach for the safety-critical control of robotic manipulators operating in dynamic environments. Building upon the framework of Control Barrier Functions (CBFs), we extend the collision cone…

In this article, we propose a control solution for the safe transfer of a quadrotor UAV between two surface robots positioning itself only using the visual features on the surface robots, which enforces safety constraints for precise…

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…

Safety-critical failures often have fatal consequences in aerospace control. Control systems on aircraft, therefore, must ensure the strict satisfaction of safety constraints, preferably with formal guarantees of safe behavior. This paper…

The goal of this thesis is to propose the combination of Control-Barrier-Functions (CBF) with Model-Predictive-Control (MPC) resulting in the novel Model-Predictive-Control-Barrier-Function (MPCBF). It can be shown, that the performance of…

Safety critical systems involve the tight coupling between potentially conflicting control objectives and safety constraints. As a means of creating a formal framework for controlling systems of this form, and with a view toward automotive…

This paper considers how to ensure that a system of fixed wing Unmanned Aerial Vehicles (UAVs) can avoid collisions. To do so we develop a novel method for creating a barrier function, which is similar to a Lyapunov function and can be used…

Autonomous collision avoidance requires accurate environmental perception; however, flight systems often possess limited sensing capabilities with field-of-view (FOV) restrictions. To navigate this challenge, we present a safety-aware…

This paper introduces a safety filter to ensure collision avoidance for multirotor aerial robots. The proposed formalism leverages a single Composite Control Barrier Function from all position constraints acting on a third-order nonlinear…

Control barrier function (CBF)-based methods provide the minimum modification necessary to formally guarantee safety in the context of quadratic programming, and strict safety guarantee for safety critical systems. However, most CBF-related…

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…