相关论文: Flexible Active Safety Motion Control for Robotic …

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…

We present a novel method for designing higher-order Control Barrier Functions (CBFs) that guarantee convergence to a safe set within a user-specified finite. Traditional Higher Order CBFs (HOCBFs) ensure asymptotic safety but lack…

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…

We propose a novel class of risk-aware control barrier functions (RA-CBFs) for the control of stochastic safety-critical systems. Leveraging a result from the stochastic level-crossing literature, we deviate from the martingale theory that…

Robot navigation in dynamic, crowded environments poses a significant challenge due to the inherent uncertainties in the obstacle model. In this work, we propose a risk-adaptive approach based on the Conditional Value-at-Risk Barrier…

Unmanned aerial vehicles (UAVs), specifically quadrotors, have revolutionized various industries with their maneuverability and versatility, but their safe operation in dynamic environments heavily relies on effective collision avoidance…

We propose a unified framework to fast generate a safe optimal control action for a new task from existing controllers on Multi-Agent Systems (MASs). The control action composition is achieved by taking a weighted mixture of the existing…

Control barrier functions (CBFs) have recently been introduced as a systematic tool to ensure safety by establishing set invariance. When combined with a control Lyapunov function (CLF), they form a safety-critical control mechanism.…

This paper considers the safety-critical control design problem with output measurements. An observer-based safety control framework that integrates the estimation error quantified observer and the control barrier function (CBF) approach is…

Robots operating alongside people, particularly in sensitive scenarios such as aiding the elderly with daily tasks or collaborating with workers in manufacturing, must guarantee safety and cultivate user trust. Continuum soft manipulators…

This paper studies safety guarantees for systems with time-varying control bounds. It has been shown that optimizing quadratic costs subject to state and control constraints can be reduced to a sequence of Quadratic Programs (QPs) using…

Control barrier functions (CBFs) have recently introduced a systematic tool to ensure system safety by establishing set invariance. When combined with a nominal control strategy, they form a safety-critical control mechanism. However, the…

This paper addresses the problem of safety-critical control for systems with unknown dynamics. It has been shown that stabilizing affine control systems to desired (sets of) states while optimizing quadratic costs subject to state and…

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…

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…

Robots operating in everyday environments must navigate and manipulate within densely cluttered spaces, where physical contact with surrounding objects is unavoidable. Traditional safety frameworks treat contact as unsafe, restricting…

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…

Adaptive control provides closed-loop stability and reference tracking for uncertain dynamical systems through online parameter adaptation. These properties alone, however, do not ensure safety in the sense of forward invariance of state…

This paper addresses the target-pursuit problem, aiming to ensure each pursuer's safety regarding collision avoidance, sensing range, and input saturation. An input-constrained CBF is proposed to dynamically regulate the pursuer's control,…

Safely navigating around obstacles while respecting the dynamics, control, and geometry of the underlying system is a key challenge in robotics. Control Barrier Functions (CBFs) generate safe control policies by considering system dynamics…