相关论文: A Collision Cone Approach for Control Barrier Func…

This paper studies safe driving interactions between Human-Driven Vehicles (HDVs) and Connected and Automated Vehicles (CAVs) in mixed traffic where the dynamics and control policies of HDVs are unknown and hard to predict. In order to…

In this paper, we study a safe control design for dynamical systems in the presence of uncertainty in a dynamical environment. The worst-case error approach is considered to formulate robust Control Barrier Functions (CBFs) in an…

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…

To enable flexible, high-throughput automation in settings where people and robots share workspaces, collaborative robotic cells must reconcile stringent safety guarantees with the need for responsive and effective behavior. A dynamic…

This paper proposes a unified control framework based on Response-Aware Risk-Constrained Control Barrier Function for dynamic safety boundary control of vehicles. Addressing the problem of physical model parameter mismatch, the framework…

In this paper, we establish a connection between model predictive control (MPC) techniques and Control Barrier Functions (CBFs). Recognizing the similarity between CBFs and Control Lyapunov Functions (CLFs), we propose a MPC formulation…

This paper addresses cooperative lane-changing maneuvers in mixed traffic, aiming to minimize traffic flow disruptions while accounting for uncooperative vehicles. The proposed approach adopts controllers combining Optimal control with…

Recent work showed that stabilizing affine control systems to desired (sets of) states while optimizing quadratic costs and observing state and control constraints can be reduced to quadratic programs (QP) by using control barrier functions…

We address the problem of controlling Connected and Automated Vehicles (CAVs) in conflict areas of a traffic network subject to hard safety constraints. It has been shown that such problems can be solved through a combination of tractable…

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…

Control barrier functions (CBFs) offer an efficient framework for designing real-time safe controllers. However, CBF-based controllers can be short-sighted, resulting in poor performance, a behaviour which is aggravated in uncertain…

Obstacle avoidance between polytopes is a challenging topic for optimal control and optimization-based trajectory planning problems. Existing work either solves this problem through mixed-integer optimization, relying on simplification of…

The problem of control based on vision measurements (bearings) has been amply studied in the literature; however, the problem of addressing the limits of the field of view of physical sensors has received relatively less attention…

In this article, we propose a control solution for the safe transfer of a quadrotor UAV between two surface robots positioning itself only using the visual features on the surface robots, which enforces safety constraints for precise…

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…

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…

Uncertainties arising in various control systems, such as robots that are subject to unknown disturbances or environmental variations, pose significant challenges for ensuring system safety, such as collision avoidance. At the same time,…

Dynamic obstacle avoidance (DOA) for unmanned aerial vehicles (UAVs) requires fast reaction under limited onboard resources. We introduce the distributionally robust acceleration control barrier function (DR-ACBF) as an efficient collision…

This paper proposes a safety controller for control-affine nonlinear systems with unmodelled dynamics and disturbances to improve closed-loop robustness. Uncertainty estimation-based control barrier functions (CBFs) are utilized to ensure…

Control Barrier Functions (CBFs) provide a powerful framework for ensuring safety in dynamical systems. However, their application typically relies on full state information, which is often violated in real-world due to the availability of…