Related papers: Control Barrier Functions via Minkowski Operations…

Hybrid dynamical systems are ubiquitous as practical robotic applications often involve both continuous states and discrete switchings. Safety is a primary concern for hybrid robotic systems. Existing safety-critical control approaches for…

This paper presents a safety-critical approach to the coordinated control of cooperative robots locomoting in the presence of fixed (holonomic) constraints. To this end, we leverage control barrier functions (CBFs) to ensure the safe…

In this paper, a safety-critical control strategy for a nonholonomic robot is developed to generate control signals that result in optimal, obstacle-free paths through dynamic environments. We formulate the control synthesis problem as an…

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…

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…

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…

Recent advances allow for the automation of food preparation in high-throughput environments, yet the successful deployment of these robots requires the planning and execution of quick, robust, and ultimately collision-free behaviors. In…

Designing safety-critical controllers for acceleration-controlled unicycle robots is challenging, as control inputs may not appear in the constraints of control Lyapunov functions(CLFs) and control barrier functions (CBFs), leading to…

The optimal performance of robotic systems is usually achieved near the limit of state and input bounds. Model predictive control (MPC) is a prevalent strategy to handle these operational constraints, however, safety still remains an open…

This paper presents an efficient and safe method to avoid static and dynamic obstacles based on LiDAR. First, point cloud is used to generate a real-time local grid map for obstacle detection. Then, obstacles are clustered by DBSCAN…

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…

Model Predictive Path Integral (MPPI) controller is used to solve unconstrained optimal control problems and Control Barrier Function (CBF) is a tool to impose strict inequality constraints, a.k.a, barrier constraints. In this work, we…

This paper considers the problem of designing motion planning algorithms for control-affine systems that generate collision-free paths from an initial to a final destination and can be executed using safe and dynamically-feasible…

This tutorial provides a critical review of the practical application of Control Barrier Functions (CBFs) in robotic safety. While the theoretical foundations of CBFs are well-established, I identify a recurring gap between the mathematical…

Control Barrier Function (CBF) is an emerging method that guarantees safety in path planning problems by generating a control command to ensure the forward invariance of a safety set. Most of the developments up to date assume availability…

This contribution introduces a centralized input constrained optimal control framework based on multiple control barrier functions (CBFs) to coordinate connected and automated agents at intersections. For collision avoidance, we propose a…

We propose a design method for a robust safety filter based on Input Constrained Control Barrier Functions (ICCBF) for car-like robots moving in complex environments. A robust ICCBF that can be efficiently implemented is obtained by…

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…

This paper studies the efficient implementation of safety filters that are designed using control barrier functions (CBFs), which minimally modify a nominal controller to render it safe with respect to a prescribed set of states. Although…

Control barrier functions (CBFs) provide an effective framework for enforcing safety in dynamical systems with scalar constraints. However, many safety constraints are more naturally expressed as matrix-valued conditions, such as positive…