相关论文: A Collision Cone Approach for Control Barrier Func…
In this paper, we present a novel probabilistic safe control framework for human-robot interaction that combines control barrier functions (CBFs) with conformal risk control to provide formal safety guarantees while considering complex…
Construction automation increasingly requires autonomous mobile robots, yet robust autonomy remains challenging on construction sites. These environments are dynamic and often visually occluded, which complicates perception and navigation.…
This paper presents a decentralized Control Barrier Function (CBF) based approach for highway merging of Connected and Automated Vehicles (CAVs). In this control algorithm, each "host" vehicle negotiates with other agents in a control zone…
Control Barrier Functions (CBFs) have proven to be an effective tool for performing safe control synthesis for nonlinear systems. However, guaranteeing safety in the presence of disturbances and input constraints for high relative degree…
Autonomous collision avoidance requires accurate environmental perception; however, flight systems often possess limited sensing capabilities with field-of-view (FOV) restrictions. To navigate this challenge, we present a safety-aware…
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…
Safe and agile trajectory planning is essential for autonomous systems, especially during complex aerobatic maneuvers. Motivated by the recent success of diffusion models in generative tasks, this paper introduces AeroTrajGen, a novel…
Polygonal collision avoidance (PCA) is short for the problem of collision avoidance between two polygons (i.e., polytopes in planar) that own their dynamic equations. This problem suffers the inherent difficulty in dealing with non-smooth…
Researchers have developed various cascaded controllers and non-cascaded controllers for the navigation and control of quadrotors in recent years. It is vital to ensure the safety of a quadrotor both in normal state and in abnormal state if…
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 Barrier Functions (CBFs) aim to ensure safety by constraining the control input at each time step so that the system state remains within a desired safe region. This paper presents a framework for CBFs in stochastic systems in the…
This paper considers how to ensure that a system of fixed wing Unmanned Aerial Vehicles (UAVs) can avoid collisions. To do so we develop a novel method for creating a barrier function, which is similar to a Lyapunov function and can be used…
In this paper, we propose a method to avoid "no-solution" situations of the control barrier function (CBF) for distributed collision avoidance in a multiagent autonomous robotic system (MARS). MARS, which is composed of distributed…
Safe real-time control of robotic manipulators in unstructured environments requires handling numerous safety constraints without compromising task performance. Traditional approaches, such as artificial potential fields (APFs), suffer from…
Platooning can serve as an effective management measure for connected and autonomous vehicles (CAVs) to ensure overall traffic efficiency. Current study focus on the longitudinal control of CAV platoons, however it still remains a…
A fundamental and classical problem in mobile autonomous systems is maintaining the safety of autonomous agents during deployment. Prior literature has presented techniques using control barrier functions (CBFs) to achieve this goal. These…
As autonomous systems become increasingly prevalent in daily life, ensuring their safety is paramount. Control Barrier Functions (CBFs) have emerged as an effective tool for guaranteeing safety; however, manually designing them for specific…
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 proposes a controller for safe lane change manoeuvres of autonomous vehicles using high-order control barrier and Lyapunov functions. The inputs are calculated using a quadratic program (CLF-CBF-QP) which admits short calculation…
Modern autonomous systems, such as flying, legged, and wheeled robots, are generally characterized by high-dimensional nonlinear dynamics, which presents challenges for model-based safety-critical control design. Motivated by the success of…