Related papers: Navigating Polytopes with Safety: A Control Barrie…
This paper introduces a novel safety-critical control method through the synthesis of control barrier functions (CBFs) for systems with high-relative-degree safety constraints. By extending the procedure of CBF backstepping, we propose…
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…
This paper considers collision avoidance for vehicles with first-order nonholonomic constraints maintaining nonzero forward speeds, moving within dynamic environments. We leverage the concept of control barrier functions (CBFs) to…
Unmanned aerial vehicles (UAVs) have become very popular for many military and civilian applications including in agriculture, construction, mining, environmental monitoring, etc. A desirable feature for UAVs is the ability to navigate and…
Optimization-based methods are widely used for computing fast, diverse solutions for complex tasks such as collision-free movement or planning in the presence of contacts. However, most of these methods require enforcing non-penetration…
Modern autonomous systems, such as flying, legged, and wheeled robots, are generally characterized by high-dimensional nonlinear dynamics, which presents challenges for model-based safety-critical control design. Motivated by the success of…
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…
We propose an online iterative algorithm to optimize a convex cover to under-approximate the free space for autonomous navigation to delineate Safe Flight Corridors (SFC). The convex cover consists of a set of polytopes such that the union…
This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…
This paper considers how to ensure that a system of fixed wing Unmanned Aerial Vehicles (UAVs) can avoid collisions. To do so we develop a novel method for creating a barrier function, which is similar to a Lyapunov function and can be used…
The deployment of robotic systems in real world environments requires the ability to quickly produce paths through cluttered, non-convex spaces. These planned trajectories must be both kinematically feasible (i.e., collision free) and…
We propose an output feedback control-based motion planning technique for agents to enable them to converge to a specified polynomial trajectory while imposing a set of safety constraints on our controller to avoid collisions within the…
Avoiding collisions between obstacles and vehicles such as cars, robots or aircraft is essential to the development of automation and autonomy. To simplify the problem, many collision avoidance algorithms and proofs consider vehicles to be…
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…
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…
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…
We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments containing obstacles, with arbitrary non-convex shapes, which can be in close proximity with each other, as long as there exists at least…
Online generation of collision free trajectories is of prime importance for autonomous navigation. Dynamic environments, robot motion and sensing uncertainties adds further challenges to collision avoidance systems. This paper presents an…
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…
Based on the practical scenario where collisions in formation control may lead to agent damage, this paper investigates the integrated problem of distance-based formation control and collision avoidance for multi-agent systems governed by…