相关论文: Configuration-Aware Safe Control for Mobile Roboti…

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…

Useful robot control algorithms should not only achieve performance objectives but also adhere to hard safety constraints. Control Barrier Functions (CBFs) have been developed to provably ensure system safety through forward invariance.…

This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control…

Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are…

In this paper, we develop a novel adaptation-based approach to constrained control design under multiple state and input constraints. Specifically, we introduce a method for synthesizing any number of time-varying candidate control barrier…

Safe physical interaction is critical for deploying robotic manipulators in human-robot interaction and contact-rich tasks, where uncertainty, external forces, and actuator limitations can compromise both performance and safety. We propose…

In this paper, we present a real-time whole-body planner for collision-free legged mobile manipulation. We enforce both self-collision and environment-collision avoidance as soft constraints within a Model Predictive Control (MPC) scheme…

We consider the problem of designing controllers to guarantee safety in a class of nonlinear systems under uncertainties in the system dynamics and/or the environment. We define a class of uncertain control barrier functions (CBFs), and…

This letter addresses the constraint compatibility problem of control barrier functions (CBFs), which occurs when a safety-critical CBF requires a system to apply more control effort than it is capable of generating. This inevitably leads…

Control Barrier Functions (CBFs) provide an elegant framework for constraining nonlinear control system dynamics to remain within an invariant subset of a designated safe set. However, identifying a CBF that balances performance-by…

Real-time control is an essential aspect of safe robot operation in the real world with dynamic objects. We present a framework for the analysis of object-aware controllers, methods for altering a robot's motion to anticipate and avoid…

Control barrier functions-based quadratic programming (CBF-QP) is gaining popularity as an effective controller synthesis tool for safe control. However, the provable safety is established on an accurate dynamic model and access to all…

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…

Safety critical systems involve the tight coupling between potentially conflicting control objectives and safety constraints. As a means of creating a formal framework for controlling systems of this form, and with a view toward automotive…

Drivers have a responsibility to exercise reasonable care to avoid collision with other road users. This assumed responsibility allows interacting agents to maintain safety without explicit coordination. Thus to enable safe autonomous…

We consider the problem of safely exploring a static and unknown environment while learning valid control barrier functions (CBFs) from sensor data. Existing works either assume known environments, target specific dynamics models, or use…

Applications that require multi-robot systems to operate independently for extended periods of time in unknown or unstructured environments face a broad set of challenges, such as hardware degradation, changing weather patterns, or…

The paper focuses on the design of a control strategy for safety-critical remote teleoperation. The main goal is to make the controlled system track the desired velocity specified by an operator while avoiding obstacles despite…

Safety is always one of the most critical principles for a system to be controlled. This paper investigates a safety-critical control scheme for unknown structured systems by using the control barrier function (CBF) method. Benefited from…

This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…