相关论文: Optimal Control Barrier Functions: Maximizing the …

A flexible active safety motion (FASM) control approach is proposed for the avoidance of dynamic obstacles and the reference tracking in robot manipulators. The distinctive feature of the proposed method lies in its utilization of control…

Ensuring both performance and safety is critical for autonomous systems operating in real-world environments. While safety filters such as Control Barrier Functions (CBFs) enforce constraints by modifying nominal controllers in real time,…

This paper presents a safety-critical approach to the coordinated control of cooperative robots locomoting in the presence of fixed (holonomic) constraints. To this end, we leverage control barrier functions (CBFs) to ensure the safe…

Control Barrier Functions (CBFs) have been demonstrated to be a powerful tool for safety-critical controller design for nonlinear systems. Existing design paradigms do not address the gap between theory (controller design with continuous…

Over the decades, kinematic controllers have proven to be practically useful for applications like set-point and trajectory tracking in robotic systems. To this end, we formulate a novel safety-critical paradigm for kinematic control in…

This paper tackles the problem of safe and efficient area coverage using a multi-agent system operating in environments with obstacles. Applications such as environmental monitoring and search and rescue require robot swarms to cover large…

Using control barrier functions (CBFs) as safety filters provides a computationally inexpensive yet effective method for constructing controllers in safety-critical applications. However, using CBFs requires the construction of a valid CBF,…

Control Barrier Functions (CBFs) are a powerful tool for ensuring the safety of autonomous systems, yet applying them to nonholonomic robots in cluttered, dynamic environments remains an open challenge. State-of-the-art methods often rely…

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…

Incorporating both flexible and rigid components in robot designs offers a unique solution to the limitations of traditional rigid robotics by enabling both compliance and strength. This paper explores the challenges and solutions for…

This paper develops a controller for Connected and Automated Vehicles (CAVs) traversing a single-lane roundabout. The controller simultaneously determines the optimal sequence and associated optimal motion control jointly minimizing travel…

Control Barrier Functions (CBFs) are a practical approach for designing safety-critical controllers, but constructing them for arbitrary nonlinear dynamical systems remains a challenge. Recent efforts have explored learning-based methods,…

In this paper, a safety-critical control strategy for a nonholonomic robot is developed to generate control signals that result in optimal, obstacle-free paths through dynamic environments. We formulate the control synthesis problem as an…

Control barrier functions (CBFs) provide a rigorous framework for designing controllers enforcing safety constraints. While CBF theory is well-developed for a finite number of safety constraints, certain applications, e.g., backup CBFs,…

The increasing complexity of control systems necessitates control laws that guarantee safety w.r.t. complex combinations of constraints. In this letter, we propose a framework to describe compositional safety specifications with control…

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…

Control barrier functions (CBFs) have become a popular tool to enforce safety of a control system. CBFs are commonly utilized in a quadratic program formulation (CBF-QP) as safety-critical constraints. A class $\mathcal{K}$ function in CBFs…

This paper studies the efficient implementation of safety filters that are designed using control barrier functions (CBFs), which minimally modify a nominal controller to render it safe with respect to a prescribed set of states. Although…

In the context of safety-critical control, we propose and analyse the use of Control Barrier Functions (CBFs) to limit the kinetic energy of torque-controlled robots. The proposed scheme is able to modify a nominal control action in a…

Safety constraints of nonlinear control systems are commonly enforced through the use of control barrier functions (CBFs). Uncertainties in the dynamic model can disrupt forward invariance guarantees or cause the state to be restricted to…