相关论文: Obstacle avoidance-driven controller for safety-cr…

Safe navigation in unknown and cluttered environments remains a challenging problem in robotics. Model Predictive Contour Control (MPCC) has shown promise for performant obstacle avoidance by enabling precise and agile trajectory tracking,…

This paper introduces a method for effectively controlling the movement of an Unmanned Aerial Vehicle (UAV) within a tunnel. The primary challenge of this problem lies in the UAV's exposure to nonlinear distance-dependent torques and forces…

In this work, we propose a cascaded scheme of linear Model prediction Control (MPC) based on Control Barrier Functions (CBF) with Dynamic Feedback Linearization (DFL) for Vertical Take-off and Landing (VTOL) Unmanned Aerial Vehicles (UAVs).…

This paper introduces a predictive control barrier function (PCBF) framework for enforcing state constraints in discrete-time systems with unknown relative degree, which can be caused by input delays or unmodeled input dynamics. Existing…

Autonomy advances have enabled robots in diverse environments and close human interaction, necessitating controllers with formal safety guarantees. This paper introduces an experimental platform designed for the validation and demonstration…

This paper proposes a cascaded control framework for quadrotor trajectory tracking with formal safety guarantees. First, we design a controller consisting of an outer-loop position model predictive control (MPC) and an inner-loop nonlinear…

Obstacle avoidance of polytopic obstacles by polytopic robots is a challenging problem in optimization-based control and trajectory planning. Many existing methods rely on smooth geometric approximations, such as hyperspheres or ellipsoids,…

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…

Safe real-time control of robotic manipulators in unstructured environments requires handling numerous safety constraints without compromising task performance. Traditional approaches, such as artificial potential fields (APFs), suffer from…

This paper proposes a fully decentralized model predictive control (MPC) framework with control barrier function (CBF) constraints for safety-critical trajectory planning in multi-robot legged systems. The incorporation of CBF constraints…

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…

This paper proposes a safety-critical controller for dynamic and uncertain environments, leveraging a robust environment control barrier function (ECBF) to enhance the robustness against the measurement and prediction uncertainties…

This work addresses the challenge of safe and efficient mobile robot navigation in complex dynamic environments with concave moving obstacles. Reactive safe controllers like Control Barrier Functions (CBFs) design obstacle avoidance…

In this paper, we propose a new class of Control Barrier Functions (CBFs) for Unmanned Ground Vehicles (UGVs) that help avoid collisions with kinematic (non-zero velocity) obstacles. While the current forms of CBFs have been successful in…

Control barrier functions (CBF) are widely explored to enforce the safety-critical constraints on nonlinear systems recently. There are many researchers incorporating the control barrier functions into path planning algorithms to find a…

Control barrier functions (CBFs) are widely used in safety-critical controllers. However, constructing a valid CBF is challenging, especially under nonlinear or non-convex constraints and for high relative degree systems. Meanwhile, finding…

This paper presents a comprehensive approach for the safety-critical control of robotic manipulators operating in dynamic environments. Building upon the framework of Control Barrier Functions (CBFs), we extend the collision cone…

Quadrotor flight is an extremely challenging problem due to the limited control authority encountered at the limit of handling. Model Predictive Contouring Control (MPCC) has emerged as a promising model-based approach for time optimization…

Safety has been of paramount importance in motion planning and control techniques and is an active area of research in the past few years. Most safety research for mobile robots target at maintaining safety with the notion of collision…

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…