Related papers: Capability-Aware Heterogeneous Control Barrier Fun…
With the increasing emphasis on the safe autonomy for robots, model-based safe control approaches such as Control Barrier Functions have been extensively studied to ensure guaranteed safety during inter-robot interactions. In this paper, we…
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…
This paper presents a formal framework for collision avoidance in multi-robot systems, wherein an existing controller is modified in a minimally invasive fashion to ensure safety. We build this framework through the use of control barrier…
Safety is of great importance in multi-robot navigation problems. In this paper, we propose a control barrier function (CBF) based optimizer that ensures robot safety with both high probability and flexibility, using only sensor…
Safety-critical whole-body robot control demands reactive methods that ensure collision avoidance in real-time. Complementarity constraints and control barrier functions (CBF) have emerged as core tools for ensuring such safety constraints,…
In collaborative human-robot environments, the unpredictable and dynamic nature of human motion can lead to situations where collisions become unavoidable. In such cases, it is essential for the robotic system to proactively mitigate…
We present a novel method for designing higher-order Control Barrier Functions (CBFs) that guarantee convergence to a safe set within a user-specified finite. Traditional Higher Order CBFs (HOCBFs) ensure asymptotic safety but lack…
Physical human-robot interaction offers the potential to leverage human intelligence and robot physical capabilities to enable a range of exciting applications, e.g., collaborative robots for rehabilitation. Safety is critical for the…
Hybrid dynamical systems are ubiquitous as practical robotic applications often involve both continuous states and discrete switchings. Safety is a primary concern for hybrid robotic systems. Existing safety-critical control approaches for…
This paper proposes a fair control framework for multi-robot systems, which integrates the newly introduced Alternative Authority Control (AAC) and Flexible Control Barrier Function (F-CBF). Control authority refers to a single robot which…
Achieving safe autonomous navigation systems is critical for deploying robots in dynamic and uncertain real-world environments. In this paper, we propose a hierarchical control framework leveraging neural network verification techniques to…
Control barrier functions (CBFs) have been widely applied to safety-critical robotic applications. However, the construction of control barrier functions for robotic systems remains a challenging task. Recently, collision detection using…
In this paper, we propose a safety-critical controller based on time-varying control barrier functions (CBFs) for a robot with an unicycle model in the continuous-time domain to achieve navigation and dynamic collision avoidance. Unlike…
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…
Decentralized control schemes are increasingly favored in various domains that involve multi-agent systems due to the need for computational efficiency as well as general applicability to large-scale systems. However, in the absence of an…
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…
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…
To deploy safe and agile robots in cluttered environments, there is a need to develop fully decentralized controllers that guarantee safety, respect actuation limits, prevent deadlocks, and scale to thousands of agents. Current approaches…
Safety-critical control is essential for humanoid robots operating in complex human-centered environments, where physical safety constraints such as joint limits, self-collision avoidance, obstacle avoidance, and workspace boundaries must…
Construction automation increasingly requires autonomous mobile robots, yet robust autonomy remains challenging on construction sites. These environments are dynamic and often visually occluded, which complicates perception and navigation.…