Related papers: Safe Multi-agent Satellite Servicing with Control …
We address the challenge of safe control in decentralized multi-agent robotic settings, where agents use uncertain black-box models to predict other agents' trajectories. We use the recently proposed conformal decision theory to adapt the…
This paper addresses the problem of navigation control of a general class of 2nd order uncertain nonlinear multi-agent systems in a bounded workspace, which is a subset of $R^3$ , with static obstacles. In particular, we propose a…
Spatial disorientation is a leading cause of fatal aircraft accidents. This paper explores the potential of AI agents to aid pilots in maintaining balance and preventing unrecoverable losses of control by offering cues and corrective…
This paper presents novel theoretical results to guarantee multi-agent set invariance using Matrix Control Barrier Functions in sampled-data systems. More specifically, the paper presents conditions under which heterogeneous control-affine…
Collision-free motion is a fundamental requirement for many autonomous systems. This paper develops a safety-critical control approach for the collision-free navigation of polytope-shaped agents in polytope-shaped environments. A systematic…
This paper proposes a distributed controller synthesis framework for safe navigation of multi-agent systems. We leverage control barrier functions to formulate collision avoidance with obstacles and teammates as constraints on the control…
This paper presents a novel methodology to enforce motion safety guarantees even in the event of a sudden loss of control capabilities by any agent within a multi-agent system. This passive safety methodology permits the replacement of…
In this article, we present a control strategy for the problem of safe autonomous docking for a planar floating platform (Slider) that emulates the movement of a satellite. Employing the proposed strategy, Slider approaches a docking port…
This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of $\mathbb{R}^n$ with static obstacles. In particular, we propose a decentralized control protocol…
In-Orbit Servicing and Active Debris Removal require advanced robotic capabilities for capturing and detumbling uncooperative targets. This work presents a hierarchical control framework for autonomous robotic capture of tumbling objects in…
With the ever growing number of space debris in orbit, the need to prevent further space population is becoming more and more apparent. Refueling, servicing, inspection and deorbiting of spacecraft are some example missions that require…
We explore space traffic management as an application of collision-free navigation in multi-agent systems where vehicles have limited observation and communication ranges. We investigate the effectiveness of transferring a collision…
This paper presents a strategy for control of a spacecraft docking with a non-maneuvering target in the presence of safety constraints and bounded disturbances. The presence of disturbances prevents convergence to a unique docking state, so…
Control barrier functions (CBFs) have recently become a powerful method for rendering desired safe sets forward invariant in single- and multi-agent systems. In the multi-agent case, prior literature has considered scenarios where all…
Safety is essential for autonomous systems, in particular for interconnected systems in which the interactions among subsystems are involved. Motivated by the recent interest in cyber-physical and interconnected autonomous systems, we…
Aiming to promote the wide adoption of safety filters for autonomous aerial robots, this paper presents a safe control architecture designed for seamless integration into widely used open-source autopilots. Departing from methods that…
For efficient and robust task accomplishment in multi-agent systems, an agent must be able to distinguish cooperative agents from non-cooperative agents, i.e., uncooperative and adversarial agents. Task descriptions capturing safety and…
This paper proposes a novel robust adaptive model predictive controller for on-orbit dislodging. We study orbit dislodging where a servicing spacecraft uses a robotic arm to free a jammed and unactuated solar panel mounted on a hybrid hinge…
Control barrier functions have been demonstrated to be a useful method of ensuring constraint satisfaction for a wide class of controllers, however existing results are mostly restricted to continuous time systems of relative degree one.…
This paper addresses the problem of guaranteeing safety of multiple coordinated agents moving in dynamic environments. It has recently been shown that this problem can be efficiently solved through the notion of Control Barrier Functions…