Related papers: Nuisance-free Automatic Ground Collision Avoidance…
Unmanned Aerial Vehicles (UAVs) are now becoming increasingly accessible to amateur and commercial users alike. The main task for UAVs is to keep a prescribed separation with obstacles in the air. In this paper, a collision-avoidance…
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…
The sizing field defined on a triangular background grid is pivotal for controlling the quality and efficiency of unstructured mesh generation. However, creating an optimal background grid that is geometrically conforming, computationally…
We present a perception-driven safety filter that converts each 3D Gaussian Splat (3DGS) into a closed-form forward collision cone, which in turn yields a first-order control barrier function (CBF) embedded within a quadratic program (QP).…
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…
Multi-vehicle autonomous driving couples strategic interaction with hybrid (discrete-continuous) maneuver planning under shared safety constraints. We introduce IBR-GCS, an Iterative Best Response (IBR) planning approach based on the Graphs…
This paper considers collision avoidance for vehicles with first-order nonholonomic constraints maintaining nonzero forward speeds, moving within dynamic environments. We leverage the concept of control barrier functions (CBFs) 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…
This paper proposes a GPU-accelerated optimization framework for collision avoidance problems where the controlled objects and the obstacles can be modeled as the finite union of convex polyhedra. A novel collision avoidance constraint is…
As aerial robots are tasked to navigate environments of increased complexity, embedding collision tolerance in their design becomes important. In this survey we review the current state-of-the-art within the niche field of…
In this paper, we propose a new class of Control Barrier Functions (CBFs) for Unmanned Ground Vehicles (UGVs) that help avoid collisions with kinematic (non-zero velocity) obstacles. While the current forms of CBFs have been successful in…
In this paper, we propose an integrated dynamical model of Connected and Automated Vehicles (CAVs) which incorporates CAV technologies and a microscopic car-following model to improve safety, efficiency and convenience. We rigorously…
Biological evidence shows that animals are capable of evading eminent collision without using depth information, relying solely on looming stimuli. In robotics, collision avoidance among uncooperative vehicles requires measurement of…
Collision-free flight in cluttered environments is a critical capability for autonomous quadrotors. Traditional methods often rely on detailed 3D map construction, trajectory generation, and tracking. However, this cascade pipeline can…
Obstacle avoidance for small unmanned aircraft is vital for the safety of future urban air mobility (UAM) and Unmanned Aircraft System (UAS) Traffic Management (UTM). There are many techniques for real-time robust drone guidance, but many…
In recent years, many control problems of autonomous mobile robots have been developed. In particular, the robots are required to be safe; that is, they need to be controlled to avoid colliding with people or objects while traveling. In…
The unmanned aerial vehicles (UAVs) are efficient tools for diverse tasks such as electronic reconnaissance, agricultural operations and disaster relief. In the complex three-dimensional (3D) environments, the path planning with obstacle…
This paper integrates Fault Tree Analysis (FTA) and Bayesian Networks (BN) to assess collision risk and establish Automotive Safety Integrity Level (ASIL) B failure rate targets for critical autonomous vehicle (AV) components. The FTA-BN…
An Adaptive Cruise Control (ACC) system automatically adjusts the host vehicle's speed to maintain a safe following distance from a lead vehicle. In typical implementations, a feedback controller (e.g., a Proportional-Integral-Derivative…
With advancements in technology, commercial aircraft formation flying is becoming increasingly feasible as an efficient and environmentally friendly flight method. However, gaps remain in practical implementation, particularly in collision…