Related papers: Quadratic Programming Approach to Flight Envelope …
Motion planning in high-dimensional space is a challenging task. In order to perform dexterous manipulation in an unstructured environment, a robot with many degrees of freedom is usually necessary, which also complicates its motion…
This paper presents a safety-guaranteed, runtime-efficient imitation learning framework for spacecraft close proximity control. We leverage Control Barrier Functions (CBFs) for safety certificates and Control Lyapunov Functions (CLFs) for…
In safety-critical control systems, ensuring both system safety and smooth control input is essential for practical deployment. Existing Control Barrier Function (CBF) frameworks, especially High-Order CBFs (HOCBFs), effectively enforce…
This paper presents a novel approach for the safe control design of systems with parametric uncertainties in both drift terms and control-input matrices. The method combines control barrier functions and adaptive laws to generate a safe…
Safety filters based on Control Barrier Functions (CBFs) have emerged as a practical tool for the safety-critical control of autonomous systems. These approaches encode safety through a value function and enforce safety by imposing a…
This paper investigates the attitude control problem of spacecraft, with the objective of achieving precise performance criteria including precise settling time, steady-state error, and overshoot elimination. To tackle this challenge, we…
This paper introduces integral control barrier functions (I-CBFs) as a means to enable the safety-critical integral control of nonlinear systems. Importantly, I-CBFs allow for the holistic encoding of both state constraints and input bounds…
This paper presents a novel approach to haptic teleoperation. Specifically, we use control barrier functions (CBFs) to generate force feedback to help human operators safely fly quadrotor UAVs. CBFs take a control signal as input and output…
This paper presents conditions for ensuring forward invariance of safe sets under sampled-data system dynamics with piecewise-constant controllers and fixed time-steps. First, we introduce two different metrics to compare the…
The role of a motion planner is pivotal in quadrotor applications, yet existing methods often struggle to adapt to complex environments, limiting their ability to achieve fast, safe, and robust flight. In this letter, we introduce a…
This paper presents two new control approaches for guaranteed safety (remaining in a safe set) subject to actuator constraints (the control is in a convex polytope). The control signals are computed using real-time optimization, including…
Control barrier functions guarantee safety but typically require accurate system models. Parametric uncertainty invalidates these guarantees. Existing robust methods maintain safety via worst-case bounds, limiting performance, while modular…
This paper proposes a safe reinforcement learning filter (SRLF) to realize multicopter collision-free trajectory tracking with input disturbance. A novel robust control barrier function (RCBF) with its analysis techniques is introduced to…
This paper presents a novel approach for ensuring safe operation of systems subject to input nonlinearities and time-varying safety constraints. We extend the time-varying barrier function framework to address time-varying safety…
This work presents a theoretical framework for the safety-critical control of time delay systems. The theory of control barrier functions, that provides formal safety guarantees for delay-free systems, is extended to systems with state…
The introduction of automated flight control and management systems have made possible aircraft designs that sacrifice arodynamic stability in order to incorporate stealth technology intro their shape, operate more efficiently, and are…
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…
Existing studies on formation control for unmanned aerial vehicles (UAV) have not considered encircling targets where an optimum coverage of the target is required at all times. Such coverage plays a critical role in many real-world…
Robots usually establish contacts at rigid surfaces with near-zero relative velocities. Otherwise, impact-induced energy propagates in the robot's linkage and may cause irreversible damage to the hardware. Moreover, abrupt changes in…
Quadratic Program(QP) based state-feedback controllers, whose inequality constraints bound the rate of change of control barrier(CBFs) and lyapunov function with a class-$\mathcal{K}$ function of their values, are sensitive to the…