Related papers: Safety-Critical Control for Robotic Manipulators u…
A flexible active safety motion (FASM) control approach is proposed for the avoidance of dynamic obstacles and the reference tracking in robot manipulators. The distinctive feature of the proposed method lies in its utilization of control…
Safety is a fundamental requirement of many robotic systems. Control barrier function (CBF)-based approaches have been proposed to guarantee the safety of robotic systems. However, the effectiveness of these approaches highly relies on the…
In the context of safety-critical control, we propose and analyse the use of Control Barrier Functions (CBFs) to limit the kinetic energy of torque-controlled robots. The proposed scheme is able to modify a nominal control action in a…
This paper considers the safety-critical control design problem with output measurements. An observer-based safety control framework that integrates the estimation error quantified observer and the control barrier function (CBF) approach is…
Control barrier functions (CBFs) offer an efficient framework for designing real-time safe controllers. However, CBF-based controllers can be short-sighted, resulting in poor performance, a behaviour which is aggravated in uncertain…
Physical human-robot collaboration requires strict safety guarantees since robots and humans work in a shared workspace. This letter presents a novel control framework to handle safety-critical position-based constraints for human-robot…
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…
Researchers have developed various cascaded controllers and non-cascaded controllers for the navigation and control of quadrotors in recent years. It is vital to ensure the safety of a quadrotor both in normal state and in abnormal state if…
This paper presents a safe controller synthesis of discrete-time stochastic systems using Control Barrier Functions (CBFs). The proposed condition allows the design of a safe controller synthesis that ensures system safety while avoiding…
This work explores a collaborative method for ensuring safety in multi-agent formation control problems. We formulate a control barrier function (CBF) based safety filter control law for a generic distributed formation controller and extend…
This paper presents a control design method that achieves safety for systems with unmodeled dynamics at the plant input. The proposed method combines control barrier functions (CBFs) and integral quadratic constraints (IQCs). Simplified,…
Control Barrier Functions (CBFs) aim to ensure safety by constraining the control input at each time step so that the system state remains within a desired safe region. This paper presents a framework for CBFs in stochastic systems in the…
Control barrier functions (CBF) are widely explored to enforce the safety-critical constraints on nonlinear systems recently. There are many researchers incorporating the control barrier functions into path planning algorithms to find a…
Ensuring both performance and safety is critical for autonomous systems operating in real-world environments. While safety filters such as Control Barrier Functions (CBFs) enforce constraints by modifying nominal controllers in real time,…
Platooning can serve as an effective management measure for connected and autonomous vehicles (CAVs) to ensure overall traffic efficiency. Current study focus on the longitudinal control of CAV platoons, however it still remains a…
Learning-based control has recently shown great efficacy in performing complex tasks for various applications. However, to deploy it in real systems, it is of vital importance to guarantee the system will stay safe. Control Barrier…
Control barrier functions (CBFs) are widely used in safety-critical controllers. However, constructing a valid CBF is challenging, especially under nonlinear or non-convex constraints and for high relative degree systems. Meanwhile, finding…
In this paper, the safety-critical control problem for uncertain systems under multiple control barrier function (CBF) constraints and input constraints is investigated. A novel framework is proposed to generate a safety filter that…
We propose new methods to synthesize control barrier function (CBF)-based safe controllers that avoid input saturation, which can cause safety violations. In particular, our method is created for high-dimensional, general nonlinear systems,…
The increasing complexity of modern robotic systems and the environments they operate in necessitates the formal consideration of safety in the presence of imperfect measurements. In this paper we propose a rigorous framework for…