Related papers: A Predictive and Sampled-Data Barrier Method for S…
This paper develops rollover prevention guarantees for mobile robots using control barrier function (CBF) theory, and demonstrates the method experimentally. We consider a safety measure based on a zero moment point condition through the…
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…
We consider safety-critical multi-agent systems with distributed control architectures and potentially varying network topologies. While learning-based distributed control enables scalability and high performance, a lack of formal safety…
This study explores modeling and control for quadrotor acrobatics, focusing on executing flip maneuvers. Flips are an elegant way to deliver sensor probes into no-fly or hazardous zones, like volcanic vents. Successful flips require…
Cooperative transport and manipulation of heavy or bulky payloads by multiple manipulators requires coordinated formation tracking, while simultaneously enforcing strict safety constraints in varying environments with limited communication…
To effectively control complex dynamical systems, accurate nonlinear models are typically needed. However, these models are not always known. In this paper, we present a data-driven approach based on Gaussian processes that learns models of…
Model predictive control (MPC) with control barrier functions (CBF) is a promising solution to address the moving obstacle collision avoidance (MOCA) problem. Unlike MPC with distance constraints (MPC-DC), this approach facilitates early…
Many approaches to multi-robot coordination are susceptible to failure due to communication loss and uncertainty in estimation. We present a real-time communication-free distributed navigation algorithm certified by control barrier…
Safe navigation for multi-robot systems requires enforcing safety without sacrificing task efficiency under decentralized decision-making. Existing decentralized methods often assume robot homogeneity, making shared safety requirements…
We present a novel approach that aims to address both safety and stability of a haptic teleoperation system within a framework of Haptic Shared Autonomy (HSA). We use Control Barrier Functions (CBFs) to generate the control input that…
In multi-obstacle environments, real-time performance and safety in robot motion control have long been challenging issues, as conventional methods often struggle to balance the two. In this paper, we propose a novel motion control…
Safe navigation of autonomous robots remains one of the core challenges in the field, especially in dynamic and uncertain environments. One of the prevalent approaches is safety filtering based on control barrier functions (CBFs), which are…
Despite great successes, model predictive control (MPC) relies on an accurate dynamical model and requires high onboard computational power, impeding its wider adoption in engineering systems, especially for nonlinear real-time systems with…
Safety is a fundamental requirement of control systems. Control Barrier Functions (CBFs) are proposed to ensure the safety of the control system by constructing safety filters or synthesizing control inputs. However, the safety guarantee…
Control barrier functions (CBFs) are an effective model-based tool to formally certify the safety of a system. With the growing complexity of modern control problems, CBFs have received increasing attention in both optimization-based and…
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…
This paper extends control barrier functions (CBFs) to high order control barrier functions (HOCBFs) that can be used for high relative degree constraints. The proposed HOCBFs are more general than recently proposed (exponential) HOCBFs. We…
Aerial transportation using quadrotors with cable-suspended payloads holds great potential for applications in disaster response, logistics, and infrastructure maintenance. However, their hybrid and underactuated dynamics pose significant…
High-dimensional robot dynamic trajectory planning poses many challenges for traditional planning algorithms. Existing planning methods suffer from issues such as long computation times, limited capacity to address intricate obstacle…
The safe operation of quadrotors in near-wall urban or indoor environments (e.g., inspection and search-and-rescue missions) is challenged by unmodeled aerodynamic effects arising from wall-proximity. It generates complex vortices that…