相关论文: A Collision Cone Approach for Control Barrier Func…
Collision avoidance in heterogeneous fleets of uncrewed vessels is challenging because the decision-making processes and controllers often differ between platforms, and it is further complicated by the limitations on sharing trajectories…
This paper proposes a computationally efficient collision avoidance algorithm using turning circle-based control barrier functions (CBFs) that comply with international regulations for preventing collisions at sea (COLREGs). Conventional…
This paper presents a feasibility-enhanced control barrier function (FECBF) framework for multi-UAV collision avoidance. In dense multi-UAV scenarios, the feasibility of the CBF quadratic program (CBF-QP) can be compromised due to internal…
Legged robots exhibit significant potential across diverse applications, including but not limited to hazardous environment search and rescue missions and the exploration of unexplored regions both on Earth and in outer space. However, the…
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…
This paper presents a sampled-data framework for the safe navigation of controlled agents in environments cluttered with obstacles governed by uncertain linear dynamics. Collision-free motion is achieved by combining Control Barrier…
We propose a learning-based Control Barrier Function (CBF) to reduce conservatism in collision avoidance for car-like robots. Traditional CBFs often use the Euclidean distance between robots' centers as a safety margin, which neglects their…
This paper proposes a collision avoidance method for ellipsoidal rigid bodies, which utilizes a control barrier function (CBF) designed from a supporting hyperplane. We formulate the problem in the Special Euclidean Group SE(2) and SE(3),…
Recently, there has been increasing attention in robot research towards the whole-body collision avoidance. In this paper, we propose a safety-critical controller that utilizes time-varying control barrier functions (time varying CBFs)…
This work combines control barrier functions (CBFs) with a whole-body controller to enable self-collision avoidance for the MIT Humanoid. Existing reactive controllers for self-collision avoidance cannot guarantee collision-free…
Dynamic obstacle avoidance is a challenging topic for optimal control and optimization-based trajectory planning problems. Many existing works use Control Barrier Functions (CBFs) to enforce safety constraints for control systems. CBFs are…
Safe operation is essential for deploying robots in human-centered 3D environments. Soft continuum manipulators provide passive safety through mechanical compliance, but still require active control to achieve reliable collision avoidance.…
Artificial potential fields (APFs) and their variants have been a staple for collision avoidance of mobile robots and manipulators for almost 40 years. Its model-independent nature, ease of implementation, and real-time performance have…
Collision avoidance is a widely investigated topic in robotic applications. When applying collision avoidance techniques to a mobile robot, how to deal with the spatial structure of the robot still remains a challenge. In this paper, we…
We present a real-time safety filter for motion planning, including those that are learning-based, using Control Barrier Functions (CBFs) to provide formal guarantees for collision avoidance with road boundaries. A key feature of our…
Safety-critical failures often have fatal consequences in aerospace control. Control systems on aircraft, therefore, must ensure the strict satisfaction of safety constraints, preferably with formal guarantees of safe behavior. This paper…
Recent advances allow for the automation of food preparation in high-throughput environments, yet the successful deployment of these robots requires the planning and execution of quick, robust, and ultimately collision-free behaviors. In…
This work explores a collaborative method for ensuring safety in multi-agent formation control problems. We formulate a control barrier function (CBF) based safety filter control law for a generic distributed formation controller and extend…
In safety-critical control, managing safety constraints with high relative degrees and uncertain obstacle dynamics pose significant challenges in guaranteeing safety performance. Robust Control Barrier Functions (RCBFs) offer a potential…
Control Barrier Functions (CBFs) can provide provable safety guarantees for dynamic systems. However, finding a valid CBF for a system of interest is often non-trivial, especially for systems having low computational resources, higher-order…