相关论文: Safe PDE Backstepping QP Control with High Relativ…

Legged robots exhibit significant potential across diverse applications, including but not limited to hazardous environment search and rescue missions and the exploration of unexplored regions both on Earth and in outer space. However, 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…

Control Barrier Function Quadratic Programs (CBF-QPs) have become a central tool for real-time safety-critical control due to their applicability to general control-affine systems and their ability to enforce constraints through…

Obtaining control barrier functions (CBFs) with large safe sets for complex nonlinear systems and constraints is a challenging task. Predictive CBFs address this issue by using an online finite-horizon optimal control problem that…

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…

Fixed-wing UAVs have transformed the transportation system with their high flight speed and long endurance, yet their safe operation in increasingly cluttered environments depends heavily on effective collision avoidance techniques. This…

In this paper, we focus on non-conservative collision avoidance between robots and obstacles with control affine dynamics and convex shapes. System safety is defined using the minimum distance between the safe regions associated with robots…

Uncertainties arising in various control systems, such as robots that are subject to unknown disturbances or environmental variations, pose significant challenges for ensuring system safety, such as collision avoidance. At the same time,…

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…

Safe navigation for an ego vehicle in uncertain environments characterized by dynamic obstacles with unknown nonlinear dynamics is a challenging problem of significant practical interest. Existing approaches in the literature either lack…

Safe control in dynamic traffic environments remains a major challenge for autonomous vehicles (AVs), as ego vehicle and obstacle states are inherently affected by sensing noise and estimation uncertainty. However, existing studies have not…

In safety-critical control systems, ensuring both system safety and smooth control input is essential for practical deployment. Existing Control Barrier Function (CBF) frameworks, especially High-Order CBFs (HOCBFs), effectively enforce…

This paper addresses the safety challenges in impulsive systems, where abrupt state jumps introduce significant complexities into system dynamics. A unified framework is proposed by integrating Quadratic Programming (QP), Control Barrier…

Modern autonomous systems, such as flying, legged, and wheeled robots, are generally characterized by high-dimensional nonlinear dynamics, which presents challenges for model-based safety-critical control design. Motivated by the success of…

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…

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…

We consider the problem of navigating a nonlinear dynamical system from some initial set to some target set while avoiding collision with an unsafe set. We extend the concept of density function to control density function (CDF) for solving…

Robust control barrier functions (CBFs) provide a principled mechanism for smooth safety enforcement under worst-case disturbances. However, existing approaches typically rely on explicit, closed-form structure in the dynamics (e.g.,…

Control barrier functions (CBFs) play a critical role in the design of safe optimization-based controllers for control-affine systems. Given a CBF associated with a desired ``safe'' set, the typical approach consists in embedding CBF-based…

Control Barrier Functions (CBFs) have proven to be an effective tool for performing safe control synthesis for nonlinear systems. However, guaranteeing safety in the presence of disturbances and input constraints for high relative degree…