Related papers: Quadratic Programming Approach to Flight Envelope …

This paper presents a scalable online algorithm to generate safe and kinematically feasible trajectories for quadrotor swarms. Existing approaches rely on linearizing Euclidean distance-based collision constraints and on axis-wise…

Ensuring the safety of control systems often requires the satisfaction of constraints on states (such as position or velocity), control inputs (such as force), and a mixture of states and inputs (such as power that depends on both velocity…

Flying quadrotors in tight formations is a challenging problem. It is known that in the near-field airflow of a quadrotor, the aerodynamic effects induced by the propellers are complex and difficult to characterize. Although machine…

In this paper we discuss how to use a barrier function that is subject to kinematic constraints and limited sensing in order to guarantee that fixed wing unmanned aerial vehicles (UAVs) will maintain safe distances from each other at all…

This article introduces the Pareto Control Barrier Function (PCBF) algorithm to maximize the inner safe set of dynamical systems under input constraints. Traditional Control Barrier Functions (CBFs) ensure safety by maintaining system…

This paper develops a new control design for guaranteeing a vehicle's safety during lane change maneuvers in a complex traffic environment. The proposed method uses a finite state machine (FSM), where a quadratic program based optimization…

Autonomous exploration is one of the important parts to achieve the autonomous operation of Unmanned Aerial Vehicles (UAVs). To improve the efficiency of the exploration process, a fast and autonomous exploration planner (FAEP) is proposed…

Articulated Frame Steering (AFS) vehicles are widely used in heavy-duty industries, where they often operate near operators and laborers. Therefore, designing safe controllers for AFS vehicles is essential. In this paper, we develop a…

Control barrier function (CBF)-based methods provide the minimum modification necessary to formally guarantee safety in the context of quadratic programming, and strict safety guarantee for safety critical systems. However, most CBF-related…

In this paper, we study a safe control design for dynamical systems in the presence of uncertainty in a dynamical environment. The worst-case error approach is considered to formulate robust Control Barrier Functions (CBFs) in an…

Control barrier function (CBF) has recently started to serve as a basis to develop approaches for enforcing safety requirements in control systems. However, constructing such function for a general system is a non-trivial task. This paper…

Control barrier functions (CBF) have become popular as a safety filter to guarantee the safety of nonlinear dynamical systems for arbitrary inputs. However, it is difficult to construct functions that satisfy the CBF constraints for high…

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…

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…

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…

Control Barrier Functions and Quadratic Programming are increasingly used for designing controllers that consider critical safety constraints. However, like Artificial Potential Fields, they can suffer from the stable spurious equilibrium…

Safety is of paramount importance in control systems to avoid costly risks and catastrophic damages. The control barrier function (CBF) method, a promising solution for safety-critical control, poses a new challenge of enhancing control…

We consider the problem of navigating a nonlinear dynamical system from some initial set to some target set while avoiding collision with an unsafe set. We extend the concept of density function to control density function (CDF) for solving…

This article presents a feedback control algorithm for electromagnetic formation flying with constraints on the satellites' states and control inputs. The algorithm combines several key techniques. First, we use alternating magnetic field…

Control systems operating in the real world face countless sources of unpredictable uncertainties. These random disturbances can render deterministic guarantees inapplicable and cause catastrophic safety failures. To overcome this, this…