Related papers: CBFKIT: A Control Barrier Function Toolbox for Rob…
The capability to navigate safely in an unstructured environment is crucial when deploying robotic systems in real-world scenarios. Recently, control barrier function (CBF) based approaches have been highly effective in synthesizing…
This paper addresses the target-pursuit problem, aiming to ensure each pursuer's safety regarding collision avoidance, sensing range, and input saturation. An input-constrained CBF is proposed to dynamically regulate the pursuer's control,…
The safety-critical control of robotic systems often must account for multiple, potentially conflicting, safety constraints. This paper proposes novel relaxation techniques to address safety-critical control problems in the presence of…
Synthesizing safe sets for robotic systems operating in complex and dynamically changing environments is a challenging problem. Solving this problem can enable the construction of safety filters that guarantee safe control actions -- most…
Planning and control for high-dimensional robot manipulators in cluttered dynamic environments require computational efficiency and robust safety guarantees. Inspired by recent advances in learning configuration-space distance functions…
Prescribed-time reach-avoid-stay (PT-RAS) specifications are crucial in applications requiring precise timing, state constraints, and safety guarantees. While control carrier functions (CBFs) have emerged as a promising approach, providing…
Deploying autonomous robots in safety-critical domains requires architectures that ensure operational effectiveness and safety compliance. In this paper, we contribute the Safe-ROS architecture for developing reliable and verifiable…
Safe operation is essential for deploying robots in human-centered 3D environments. Soft continuum manipulators provide passive safety through mechanical compliance, but still require active control to achieve reliable collision avoidance.…
Autonomous robots navigating in changing environments demand adaptive navigation strategies for safe long-term operation. While many modern control paradigms offer theoretical guarantees, they often assume known extrinsic safety…
Endowing nonlinear systems with safe behavior is increasingly important in modern control. This task is particularly challenging for real-life control systems that must operate safely in dynamically changing environments. This paper…
We consider the problem of designing controllers to guarantee safety in a class of nonlinear systems under uncertainties in the system dynamics and/or the environment. We define a class of uncertain control barrier functions (CBFs), and…
Robots operating alongside people, particularly in sensitive scenarios such as aiding the elderly with daily tasks or collaborating with workers in manufacturing, must guarantee safety and cultivate user trust. Continuum soft manipulators…
Safe navigation for multi-robot systems requires enforcing safety without sacrificing task efficiency under decentralized decision-making. Existing decentralized methods often assume robot homogeneity, making shared safety requirements…
Performing swift and agile maneuvers is essential for the safe operation of autonomous mobile robots. Moreover, the presence of time-delay restricts the response time of the system and hinders the safety performance. Thus, this paper…
Safety is a critical property for control systems in medicine, transportation, manufacturing, and other applications, and can be defined as ensuring positive invariance of a predefined safe set. This paper investigates the problems of…
In this study, we propose a safety-critical compliant control strategy designed to strictly enforce interaction force constraints during the physical interaction of robots with unknown environments. The interaction force constraint is…
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…
Collision avoidance for robotic manipulators requires enforcing full-body safety constraints in high-dimensional configuration spaces. Control Barrier Function (CBF) based safety filters have proven effective in enabling safe behaviors, but…
Unthinking execution of human instructions in robotic manipulation can lead to severe safety risks, such as poisonings, fires, and even explosions. In this paper, we present responsible robotic manipulation, which requires robots to…
Safety is one of the most crucial challenges of autonomous driving vehicles, and one solution to guarantee safety is to employ an additional control revision module after the planning backbone. Control Barrier Function (CBF) has been widely…