Related papers: High Order Control Lyapunov Function - Control Bar…
Obstacle avoidance is central to safe navigation, especially for robots with arbitrary and nonconvex geometries operating in cluttered environments. Existing Control Barrier Function (CBF) approaches often rely on analytic clearance…
This paper presents a novel safety filter framework that ensures both safety and the preservation of the legacy control action within a nominal region. This modular design allows the safety filter to be integrated into the control hierarchy…
We propose a hybrid feedback control law that guarantees both safety and asymptotic stability for a class of Lagrangian systems in environments with obstacles. Rather than performing trajectory planning and implementing a…
Control Barrier Functions (CBFs) enforce safety by rendering a prescribed safe set forward invariant. However, standard CBFs are limited to safety constraints with relative degree one, while High-Order CBF (HOCBF) methods address higher…
This paper presents a novel task-priority control framework for redundant robotic systems based on a hierarchy of control Lyapunov function (CLF) and control barrier function (CBF) based quadratic programs (QPs). The proposed method…
In this paper, we propose a quadratic programming-based filter for safe and stable controller design, via a Control Barrier Function (CBF) and a Control Lyapunov Function (CLF). Our method guarantees safety and local asymptotic stability…
Collision avoidance is a widely investigated topic in robotic applications. When applying collision avoidance techniques to a mobile robot, how to deal with the spatial structure of the robot still remains a challenge. In this paper, we…
This paper studies the problem of safe control of sampled-data systems under bounded disturbance and measurement errors with piecewise-constant controllers. To achieve this, we first propose the High-Order Doubly Robust Control Barrier…
We propose a method for combining Harmonic Control Lyapunov-Barrier Functions (HCLBFs) derived from Signal Temporal Logic (STL) specifications with any given robot policy to turn an unsafe policy into a safe one with formal guarantees. The…
Balancing safety and performance is one of the predominant challenges in modern control system design. Moreover, it is crucial to robustly ensure safety without inducing unnecessary conservativeness that degrades performance. In this work…
Planning safe and efficient trajectories through signal-free intersections presents significant challenges for autonomous vehicles (AVs), particularly in dynamic, multi-task environments with unpredictable interactions and an increased…
Reinforcement learning (RL) exhibits impressive performance when managing complicated control tasks for robots. However, its wide application to physical robots is limited by the absence of strong safety guarantees. To overcome this…
In this paper we present the implementation of a Control Barrier Function (CBF) using a quadratic program (QP) formulation that provides obstacle avoidance for a robotic manipulator arm system. CBF is a control technique that has emerged…
Control barrier functions (CBFs) have been widely used for synthesizing controllers in safety-critical applications. When used as a safety filter, it provides a simple and computationally efficient way to obtain safe controls from a…
We present a safety-critical controller for the problem of stabilization for force-controlled nonholonomic mobile robots. The proposed control law is based on the constructions of control Lyapunov functions (CLFs) and control barrier…
This paper presents a new control barrier function (CBF) designed to improve the efficiency of collision avoidance for nonholonomic vehicles. Traditional CBFs typically rely on the shortest Euclidean distance to obstacles, overlooking the…
This paper addresses the challenge of ensuring safety in stochastic control systems with high-relative-degree constraints, while maintaining feasibility and mitigating conservatism in risk evaluation. Control Barrier Functions (CBFs)…
This work introduces a novel Proxy Control Barrier Function (PCBF) scheme that integrates barrier-based and Lyapunov-based safety-critical control strategies for strict-feedback systems with potentially unknown dynamics. The proposed method…
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…
It has been shown that satisfying state and control constraints while optimizing quadratic costs subject to desired (sets of) state convergence for affine control systems can be reduced to a sequence of quadratic programs (QPs) by using…