相关论文: Singularity-Avoidance Control of Robotic Systems w…

Singularities in robotic and dynamical systems arise when the mapping from control inputs to task-space motion loses rank, leading to an inability to determine inputs. This limits the system's ability to generate forces and torques in…

With the increase in complexity of robotic systems and the rise in non-expert users, it can be assumed that task constraints are not explicitly known. In tasks where avoiding singularity is critical to its success, this paper provides an…

In this paper, we propose a safety-critical controller based on time-varying control barrier functions (CBFs) for a robot with an unicycle model in the continuous-time domain to achieve navigation and dynamic collision avoidance. Unlike…

Safety-critical whole-body robot control demands reactive methods that ensure collision avoidance in real-time. Complementarity constraints and control barrier functions (CBF) have emerged as core tools for ensuring such safety constraints,…

Implementing obstacle avoidance in dynamic environments is a challenging problem for robots. Model predictive control (MPC) is a popular strategy for dealing with this type of problem, and recent work mainly uses control barrier function…

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…

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…

Control Barrier Functions (CBFs) provide an elegant framework for constraining nonlinear control system dynamics to remain within an invariant subset of a designated safe set. However, identifying a CBF that balances performance-by…

Singularity in robot controls is an important problem. By identifying an appropriate trajectory for the robots, the singular situations can be avoided. In this paper an identification algorithm is proposed to control the robot such that it…

Robots operating in real world settings must navigate and maintain safety while interacting with many heterogeneous agents and obstacles. Multi-Agent Control Barrier Functions (CBF) have emerged as a computationally efficient tool to…

With the increasing complexity of real-world systems and varying environmental uncertainties, it is difficult to build an accurate dynamic model, which poses challenges especially for safety-critical control. In this paper, a learning-based…

Robots deployed in unstructured, real-world environments operate under considerable uncertainty due to imperfect state estimates, model error, and disturbances. Given this real-world context, the goal of this paper is to develop controllers…

Safe navigation of autonomous robots remains one of the core challenges in the field, especially in dynamic and uncertain environments. One of the prevalent approaches is safety filtering based on control barrier functions (CBFs), which are…

Control barrier functions (CBF) are widely explored to enforce the safety-critical constraints on nonlinear systems recently. There are many researchers incorporating the control barrier functions into path planning algorithms to find a…

In this study, we propose a safety-critical compliant control strategy designed to strictly enforce interaction force constraints during the physical interaction of robots with unknown environments. The interaction force constraint is…

Control barrier functions guarantee safety but typically require accurate system models. Parametric uncertainty invalidates these guarantees. Existing robust methods maintain safety via worst-case bounds, limiting performance, while modular…

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…

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…

In this work, we propose a collision-free source-seeking control framework for a unicycle robot traversing an unknown cluttered environment. In this framework, obstacle avoidance is guided by the control barrier functions (CBF) embedded in…

Hybrid dynamical systems are ubiquitous as practical robotic applications often involve both continuous states and discrete switchings. Safety is a primary concern for hybrid robotic systems. Existing safety-critical control approaches for…