Related papers: Control Barrier Function-Based Quadratic Programmi…
In this paper, we address the problem of synthesizing safe and stabilizing controllers for nonlinear systems subject to complex safety specifications and input constraints. We introduce the Universal Barrier Function (UBF), a single…
This study presents a framework to guarantee safety for a class of second-order nonlinear systems under multiple state and input constraints. To facilitate real-world applications, a safety-critical controller must consider multiple…
Quadratic programs (QP) subject to multiple time-dependent control barrier function (CBF) based constraints have been used to design safety-critical controllers. However, ensuring the existence of a solution at all times to the QP subject…
By introducing two polar coordinates transformations, the marine vessel's original two-input-three-output second-order tracking model can be reduced to a two-input-two-output feedback form. However, the resulting system does not confirm to…
We study the prescribed-time reach-avoid (PT-RA) control problem for nonlinear systems with unknown dynamics operating in environments with moving obstacles. Unlike robust or learning based Control Barrier Function (CBF) methods, the…
This paper studies safety and feasibility guarantees for systems with tight control bounds. It has been shown that stabilizing an affine control system while optimizing a quadratic cost and satisfying state and control constraints can be…
Control barrier functions (CBFs) have become a popular tool to enforce safety of a control system. CBFs are commonly utilized in a quadratic program formulation (CBF-QP) as safety-critical constraints. A class $\mathcal{K}$ function in CBFs…
This paper is motivated by controllers developed for autonomous vehicles which occasionally result into conditions where safety is no longer guaranteed. We develop an exact-time safety recovery framework for any control-affine nonlinear…
Control Lyapunov functions (CLFs) and control barrier functions (CBFs) have been used to develop provably safe controllers by means of quadratic programs (QPs), guaranteeing safety in the form of trajectory invariance with respect to a…
In this study, we propose a novel method that integrates Nonlinear Model Predictive Contour Control (NMPCC) with an Exponentially Stabilizing Control Lyapunov Function (ES-CLF) and Exponential Higher-Order Control Barrier Functions to…
The exponential growth of Advanced Air Mobility (AAM) services demands assurances of safety in the airspace. This research a Traffic Control Framework (TCF) for developing digital flight rules for Uncrewed Aircraft System (UAS) flying in…
We consider the merging control problem for Connected and Automated Vehicles (CAVs) aiming to jointly minimize travel time and energy consumption while providing speed-dependent safety guarantees and satisfying velocity and acceleration…
Ensuring operational safety is critical for human-to-humanoid motion imitation. This paper presents a vision-based framework that enables a humanoid robot to imitate human movements while avoiding collisions. Human skeletal keypoints are…
This paper details the theory and implementation behind practically ensuring safety of remotely piloted racing drones. We demonstrate robust and practical safety guarantees on a 7" racing drone at speeds exceeding 100 km/h, utilizing only…
Safety has been of paramount importance in motion planning and control techniques and is an active area of research in the past few years. Most safety research for mobile robots target at maintaining safety with the notion of collision…
This article presents a three-dimensional nonlinear trajectory tracking control strategy for unmanned aerial vehicles (UAVs) in the presence of spatial constraints. As opposed to many existing control strategies, which do not consider…
The problem of control based on vision measurements (bearings) has been amply studied in the literature; however, the problem of addressing the limits of the field of view of physical sensors has received relatively less attention…
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…
This technical note focuses on the control of a quadrotor unmanned aerial vehicle (UAV) tethered to the ground. The control objective is to stabilize the UAV to the desired position while ensuring that the cable remains taut at all times. A…
Designing safety-critical control for robotic manipulators is challenging, especially in a cluttered environment. First, the actual trajectory of a manipulator might deviate from the planned one due to the complex collision environments and…