相关论文: Nuisance-free Automatic Ground Collision Avoidance…

This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimization. We focus on a controlled object whose goal is to avoid…

This paper introduces a novel safety-critical control method through the synthesis of control barrier functions (CBFs) for systems with high-relative-degree safety constraints. By extending the procedure of CBF backstepping, we propose…

This paper presents a hybrid obstacle avoidance architecture that integrates Optimal Control under clearance with a Fuzzy Rule Based System (FRBS) to enable adaptive constraint handling for unmanned aircraft. Motivated by the limitations of…

Micro Aerial Vehicles (MAVs) often face a high risk of collision during autonomous flight, particularly in cluttered and unstructured environments. To mitigate the collision impact on sensitive onboard devices, resilient MAVs with…

This paper presents the use of robust model predictive control for the design of an intent-aware collision avoidance system for multi-agent aircraft engaged in horizontal maneuvering scenarios. We assume that information from other agents…

Airborne collision avoidance systems provide an onboard safety net should normal air traffic control procedures fail to keep aircraft separated. These systems are widely deployed and have been constantly refined over the past three decades,…

With the development of intelligent connected vehicle technology, human-machine shared control has gained popularity in vehicle following due to its effectiveness in driver assistance. However, traditional vehicle following systems struggle…

The design of Envelope and Pilot-Induced Oscillation (PIO) Protection Features, and Failure Cases detection and prevention using Active Control Sidestick (ACS) is a challenging task. While helping the pilot to respect the envelope…

Motion planning for autonomous vehicles requires generating collision-free and dynamically feasible trajectories in complex environments under real-time constraints. While nonlinear optimal control formulations provide high-fidelity…

Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent glass obstacles present significant challenges to reliable navigation. Researchers have investigated the use of non-contact sensors and…

This paper presents a novel collision avoidance strategy for unmanned aircraft detect and avoid that requires only information about the relative bearing angle between an aircraft and hazard. It is shown that this bearing-only strategy can…

This paper presents a hybrid control framework with a risk-budgeted monitor for safety-certified autonomous driving. A sliding-window monitor tracks insufficient barrier residuals and triggers switching from a relaxed control barrier…

Unmanned aerial vehicles (UAVs) are widely applied in civil applications, such as disaster relief, agriculture and cargo transportation, etc. With the massive number of UAV flight activities, the anti-collision technologies aiming to avoid…

Nonlinear optimal control problems for trajectory planning with obstacle avoidance present several challenges. While general-purpose optimizers and dynamic programming methods struggle when adopted separately, their combination enabled by a…

Collision-free motion is a fundamental requirement for many autonomous systems. This paper develops a safety-critical control approach for the collision-free navigation of polytope-shaped agents in polytope-shaped environments. A systematic…

In this paper we consider multi-agent navigation with collision avoidance using Control Barrier Functions (CBF). In the case of non-communicating agents, we consider trade-offs between level of safety guarantee and liveness - the ability to…

Control Barrier Function (CBF) is an emerging method that guarantees safety in path planning problems by generating a control command to ensure the forward invariance of a safety set. Most of the developments up to date assume availability…

Control barrier function (CBF)-based methods provide the minimum modification necessary to formally guarantee safety in the context of quadratic programming, and strict safety guarantee for safety critical systems. However, most CBF-related…

The paper introduces a novel framework for safe and autonomous aerial physical interaction in industrial settings. It comprises two main components: a neural network-based target detection system enhanced with edge computing for reduced…

This document describes the architecture and algorithms of a high fidelity fixed wing flight simulator intended to test and validate novel guidance, navigation, and control (GNC) algorithms for autonomous aircraft. It aims to replicate the…