Related papers: Safety-Aware Perception for Autonomous Collision A…
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…
The autonomous operation of small quadcopters moving at high speed in an unknown cluttered environment is a challenging task. Current works in the literature formulate it as a Sense-And-Avoid (SAA) problem and address it by either…
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…
Collision avoidance is one of the most important topics in the robotics field. The goal is to move the robots from initial locations to target locations such that they follow shortest non-colliding paths in the shortest time and with the…
Bird's-Eye-View (BEV) perception has become a foundational paradigm in autonomous driving, enabling unified spatial representations that support robust multi-sensor fusion and multi-agent collaboration. As autonomous vehicles transition…
This paper presents a novel monitoring framework that infers the level of collision risk for autonomous vehicles (AVs) based on their object detection performance. The framework takes two sets of predictions from different algorithms and…
In this work, we propose a collision-free source-seeking control framework for a unicycle robot traversing an unknown cluttered environment. In this framework, obstacle avoidance is guided by the control barrier functions (CBF) embedded in…
This paper proposes a collision avoidance method for ellipsoidal rigid bodies, which utilizes a control barrier function (CBF) designed from a supporting hyperplane. We formulate the problem in the Special Euclidean Group SE(2) and SE(3),…
Cooperative perception allows a Connected Autonomous Vehicle (CAV) to interact with the other CAVs in the vicinity to enhance perception of surrounding objects to increase safety and reliability. It can compensate for the limitations of the…
Collision detection and recovery for aerial robots remain a challenge because of the limited space for sensors and local stability of the flight controller. We introduce a novel collision-resilient quadrotor that features a compliant arm…
Inspired by the success of imitation and inverse reinforcement learning in replicating expert behavior through optimal control, we propose a learning based approach to safe controller synthesis based on control barrier functions (CBFs). We…
Collision detection via visual fences can significantly enhance the safety of collaborative robotic arms. Existing work typically performs such detection based on pre-deployed stationary cameras outside the robotic arm's workspace. These…
This paper investigates the control barrier function (CBF) based safety-critical control for continuous nonlinear control affine systems using the more efficient online algorithms through time-varying optimization. The idea lies in that…
Advanced Driver Assistance Systems (ADAS) alert drivers during safety-critical scenarios but often provide superfluous alerts due to a lack of consideration for drivers' knowledge or scene awareness. Modeling these aspects together in a…
In this report, we describe the technical details of our submission to the IROS 2025 RoboSense Challenge Social Navigation Track. This track focuses on developing RGBD-based perception and navigation systems that enable autonomous agents to…
This paper presents a three dimensional collision avoidance approach for aerial vehicles inspired by coordinated behaviors in biological groups. The proposed strategy aims to enable a group of vehicles to converge to a common destination…
Autonomous driving has garnered significant attention for its potential to improve safety, traffic efficiency, and user convenience. However, the dynamic and complex nature of interactive driving poses significant challenges, including the…
We propose an online iterative algorithm to optimize a convex cover to under-approximate the free space for autonomous navigation to delineate Safe Flight Corridors (SFC). The convex cover consists of a set of polytopes such that the union…
In this paper, we present a novel trajectory planning algorithm for cooperative manipulation with multiple quadrotors using control barrier functions (CBFs). Our approach addresses the complex dynamics of a system in which a team of…
Autonomous driving confronts great challenges in complex traffic scenarios, where the risk of Safety of the Intended Functionality (SOTIF) can be triggered by the dynamic operational environment and system insufficiencies. The SOTIF risk is…