相关论文: Occlusion-Free Image Based Visual Servoing using P…

Set invariance techniques such as control barrier functions (CBFs) can be used to enforce time-varying constraints such as keeping a safe distance from dynamic objects. However, existing methods for enforcing time-varying constraints often…

Learning-based control approaches have shown great promise in performing complex tasks directly from high-dimensional perception data for real robotic systems. Nonetheless, the learned controllers can behave unexpectedly if the trajectories…

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,…

Hybrid dynamical systems are ubiquitous as practical robotic applications often involve both continuous states and discrete switchings. Safety is a primary concern for hybrid robotic systems. Existing safety-critical control approaches for…

Designing safety-critical controllers for acceleration-controlled unicycle robots is challenging, as control inputs may not appear in the constraints of control Lyapunov functions(CLFs) and control barrier functions (CBFs), leading to…

Service robots have demonstrated significant potential for autonomous trolley collection and redistribution in public spaces like airports or warehouses to improve efficiency and reduce cost. Usually, a fully autonomous system for the…

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…

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,…

Vision-based control systems, such as image-based visual servoing (IBVS), have been extensively explored for precise robot manipulation. A persistent challenge, however, is maintaining robust target tracking under partial or full…

Image-based visual servoing (IBVS) methods have been well developed and used in many applications, especially in pose (position and orientation) alignment. However, most research papers focused on developing control solutions when 3D point…

In modern robotics, addressing the lack of accurate state space information in real-world scenarios has led to a significant focus on utilizing visuomotor observation to provide safety assurances. Although supervised learning methods, such…

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…

Control Invariant (CI) sets are instrumental in certifying the safety of dynamical systems. Control Barrier Functions (CBFs) are effective tools to compute such sets, since the zero sublevel sets of CBFs are CI sets. However, computing CBFs…

Control barrier functions (CBFs) have been demonstrated as an effective method for safety-critical control of autonomous systems. Although CBFs are simple to deploy, their design remains challenging, motivating the development of…

Control systems operating in the real world face countless sources of unpredictable uncertainties. These random disturbances can render deterministic guarantees inapplicable and cause catastrophic safety failures. To overcome this, this…

In this work, we propose a collision-free source-seeking control framework for a unicycle robot traversing an unknown cluttered environment. In this framework, obstacle avoidance is guided by the control barrier functions (CBF) embedded in…

Providing safety guarantees for learning-based controllers is important for real-world applications. One approach to realizing safety for arbitrary control policies is safety filtering. If necessary, the filter modifies control inputs to…

Robotic vision plays a major role in factory automation to service robot applications. However, the traditional use of frame-based camera sets a limitation on continuous visual feedback due to their low sampling rate and redundant data in…

For soft continuum arms, visual servoing is a popular control strategy that relies on visual feedback to close the control loop. However, robust visual servoing is challenging as it requires reliable feature extraction from the image,…

In this paper we present a novel visual servoing framework to control a robotic manipulator in the configuration space by using purely natural visual features. Our goal is to develop methods that can robustly detect and track natural…