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

We believe that the future of robot motion planning will look very different than how it looks today: instead of complex collision avoidance trajectories with a brittle dependence on sensing and estimation of the environment, motion plans…

This paper presents a novel method for assistive load carrying using quadruped robots. The controller uses proprioceptive sensor data to estimate external base wrench, that is used for precise control of the robot's acceleration during…

Ensuring safety for autonomous robots operating in dynamic environments can be challenging due to factors such as unmodeled dynamics, noisy sensor measurements, and partial observability. To account for these limitations, it is common to…

In this work, we address the problem of ensuring real-time safety in autonomous robot navigation, in spatially constrained dynamic environments, by utilizing only onboard sensors. We present a real-time control architecture that integrates…

Safety is of paramount importance in control systems to avoid costly risks and catastrophic damages. The control barrier function (CBF) method, a promising solution for safety-critical control, poses a new challenge of enhancing control…

Control Barrier Functions (CBF) are widely used to enforce the safety-critical constraints on nonlinear systems. Recently, these functions are being incorporated into a path planning framework to design safety-critical path planners.…

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…

Online generation of collision free trajectories is of prime importance for autonomous navigation. Dynamic environments, robot motion and sensing uncertainties adds further challenges to collision avoidance systems. This paper presents an…

This paper proposes a safety-critical control design approach for nonlinear control affine systems in the presence of matched and unmatched uncertainties. Our constructive framework couples control barrier function (CBF) theory with a new…

Autonomous robot navigation can be particularly demanding, especially when the surrounding environment is not known and safety of the robot is crucial. This work relates to the synthesis of Control Barrier Functions (CBFs) through data for…

This paper introduces a safety filter to ensure collision avoidance for multirotor aerial robots. The proposed formalism leverages a single Composite Control Barrier Function from all position constraints acting on a third-order nonlinear…

Safety in terms of collision avoidance for multi-robot systems is a difficult challenge under uncertainty, non-determinism and lack of complete information. This paper aims to propose a collision avoidance method that accounts for both…

Consider an unmanned aerial vehicle (UAV) physically connected to the ground station with a tether operating in a space, tasked with performing precise maneuvers while constrained by the physical limitation of its tether, which prevents it…

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…

Sampling-based algorithms, such as Rapidly Exploring Random Trees (RRT) and its variants, have been used extensively for motion planning. Control barrier functions (CBFs) have been recently proposed to synthesize controllers for…

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…

This paper addresses the problem of safety-critical control for non-affine control systems. It has been shown that optimizing quadratic costs subject to state and control constraints can be sub-optimally reduced to a sequence of quadratic…

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…

In fields such as mining, search and rescue, and archaeological exploration, ensuring real-time, collision-free navigation of robots in confined, cluttered environments is imperative. Despite the value of established path planning…

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…