Related papers: Control Barrier Functions Solved with Hierarchical…
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…
Designing safety-critical controllers for acceleration-controlled unicycle robots is challenging, as control inputs may not appear in the constraints of control Lyapunov functions(CLFs) and control barrier functions (CBFs), leading to…
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…
We address the problem of safe policy learning in multi-agent safety-critical autonomous systems. In such systems, it is necessary for each agent to meet the safety requirements at all times while also cooperating with other agents to…
This paper studies safety guarantees for systems with time-varying control bounds. It has been shown that optimizing quadratic costs subject to state and control constraints can be reduced to a sequence of Quadratic Programs (QPs) using…
Robots operating in real world settings must navigate and maintain safety while interacting with many heterogeneous agents and obstacles. Multi-Agent Control Barrier Functions (CBF) have emerged as a computationally efficient tool to…
Control Lyapunov Functions (CLFs) and Control Barrier Functions (CBFs) can be combined, typically by means of Quadratic Programs (QPs), to design controllers that achieve performance and safety objectives. However, a significant limitation…
The integration of autonomous mobile robots (AMRs) in industrial environments, particularly warehouses, has revolutionized logistics and operational efficiency. However, ensuring the safety of human workers in dynamic, shared spaces remains…
Control Lyapunov functions (CLFs) and control barrier functions (CBFs) have been used to develop provably safe controllers by means of quadratic programs (QPs), guaranteeing safety in the form of trajectory invariance with respect to a…
Control Barrier Functions (CBFs) have emerged as a powerful paradigm in control theory, providing a principled approach to enforcing safety-critical constraints in dynamic systems. This survey paper comprehensively explores the foundational…
Control Barrier Functions (CBFs) are a powerful tool for ensuring the safety of autonomous systems, yet applying them to nonholonomic robots in cluttered, dynamic environments remains an open challenge. State-of-the-art methods often rely…
Control Barrier Functions (CBFs) are becoming popular tools in guaranteeing safety for nonlinear systems and constraints, and they can reduce a constrained optimal control problem into a sequence of Quadratic Programs (QPs) for affine…
We address the problem of controlling Connected and Automated Vehicles (CAVs) in conflict areas of a traffic network subject to hard safety constraints. It has been shown that such problems can be solved through a combination of tractable…
Unmanned aerial vehicles (UAVs), specifically quadrotors, have revolutionized various industries with their maneuverability and versatility, but their safe operation in dynamic environments heavily relies on effective collision avoidance…
We address the problem of controlling Connected and Automated Vehicles (CAVs) in conflict areas of a traffic network subject to hard safety constraints. It has been shown that such problems can be solved through a combination of tractable…
This article introduces a safe control strategy for application of forces to an external object using a dexterous robotic arm mounted on an unmanned Aerial Vehicle (UAV). A hybrid force-motion controller has been developed for this purpose.…
To enable flexible, high-throughput automation in settings where people and robots share workspaces, collaborative robotic cells must reconcile stringent safety guarantees with the need for responsive and effective behavior. A dynamic…
Optimal control problems with constraints ensuring safety and convergence to desired states can be mapped onto a sequence of real time optimization problems through the use of Control Barrier Functions (CBFs) and Control Lyapunov Functions…
To navigate complex environments, robots must increasingly use high-dimensional visual feedback (e.g. images) for control. However, relying on high-dimensional image data to make control decisions raises important questions; particularly,…
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…