相关论文: Safe Legged Locomotion using Collision Cone Contro…
Safety concerns during the operation of legged robots must be addressed to enable their widespread use. Machine learning-based control methods that use model-based constraints provide promising means to improve robot safety. This study…
Control barrier functions (CBFs) offer a powerful tool for enforcing safety specifications in control synthesis. This paper deals with the problem of constructing valid CBFs. Given a second-order system and any desired safety set with…
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,…
In this paper, we present a novel trajectory planning algorithm for cooperative manipulation with multiple quadrotors using control barrier functions (CBFs). Our approach addresses the complex dynamics of a system in which a team of…
Whole-body reactive obstacle avoidance for mobile manipulators (MM) remains an open research problem. Control Barrier Functions (CBF), combined with Quadratic Programming (QP), have become a popular approach for reactive control with safety…
Collapsing terrains, often present in search and rescue missions or planetary exploration, pose significant challenges for quadruped robots. This paper introduces a robust locomotion framework for safe navigation over unstable surfaces by…
This paper proposes a safety-critical locomotion control framework employed for legged robots exploring through infeasible path in obstacle-rich environments. Our research focus is on achieving safe and robust locomotion where robots…
Autonomous navigation in complex, non-convex environments remains challenging when robot dynamics, control limits, and exact robot geometry must all be taken into account. In this paper, we propose a hierarchical planning and control…
In this paper, we present a decentralized control approach based on a Nonlinear Model Predictive Control (NMPC) method that employs barrier certificates for safe navigation of multiple nonholonomic wheeled mobile robots in unknown…
This tutorial provides a critical review of the practical application of Control Barrier Functions (CBFs) in robotic safety. While the theoretical foundations of CBFs are well-established, I identify a recurring gap between the mathematical…
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…
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…
Ensuring the safety of dynamical systems is crucial, where collision avoidance is a primary concern. Recently, control barrier functions (CBFs) have emerged as an effective method to integrate safety constraints into control synthesis…
Active perception in uncertain environments requires robots to navigate safely while acquiring informative observations to reduce map uncertainty. These objectives inherently conflict, as informative viewpoints often lie near uncertain…
Traversing 3-D complex environments has always been a significant challenge for legged locomotion. Existing methods typically rely on external sensors such as vision and lidar to preemptively react to obstacles by acquiring environmental…
Learning-based control has recently shown great efficacy in performing complex tasks for various applications. However, to deploy it in real systems, it is of vital importance to guarantee the system will stay safe. Control Barrier…
This paper presents a novel collision avoidance method for general ellipsoids based on control barrier functions (CBFs) and separating hyperplanes. First, collision-free conditions for general ellipsoids are analytically derived using the…
This paper presents an efficient and safe method to avoid static and dynamic obstacles based on LiDAR. First, point cloud is used to generate a real-time local grid map for obstacle detection. Then, obstacles are clustered by DBSCAN…
This paper introduces a novel control methodology designed to guide a collective of robotic-sheep in a cluttered and unknown environment using robotic-dogs. The dog-agents continuously scan the environment and compute a safe trajectory to…
Shared autonomy blends operator intent with autonomous assistance. In cluttered environments, linear blending can produce unsafe commands even when each source is individually collision-free. Many existing approaches model obstacle…