相关论文: Safe Quadrotor Navigation using Composite Control …

This paper develops and experimentally evaluates a navigation function for quadrotor formation flight that is resilient to abrupt quadrotor failures and other obstacles. The navigation function is based on modeling healthy quadrotors as…

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…

Legged robots exhibit significant potential across diverse applications, including but not limited to hazardous environment search and rescue missions and the exploration of unexplored regions both on Earth and in outer space. However, the…

In fields such as mining, search and rescue, and archaeological exploration, ensuring real-time, collision-free navigation of robots in confined, cluttered environments is imperative. Despite the value of established path planning…

Collision avoidance is a widely investigated topic in robotic applications. When applying collision avoidance techniques to a mobile robot, how to deal with the spatial structure of the robot still remains a challenge. In this paper, we…

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…

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…

This paper presents an approach for navigation and control in unmapped environments under input and state constraints using a composite control barrier function (CBF). We consider the scenario where real-time perception feedback (e.g.,…

Quadrotors have gained popularity over the last decade, aiding humans in complex tasks such as search and rescue, mapping and exploration. Despite their mechanical simplicity and versatility compared to other types of aerial vehicles, they…

In this article, we present a control strategy for the problem of safe autonomous docking for a planar floating platform (Slider) that emulates the movement of a satellite. Employing the proposed strategy, Slider approaches a docking port…

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…

We present a dual-barrier control barrier function (CBF) safety filter for real-time, safety-critical velocity control of holonomic robots operating in incrementally built occupancy grid maps. As a robot explores an unknown environment,…

This paper proposes a cascaded control framework for quadrotor trajectory tracking with formal safety guarantees. First, we design a controller consisting of an outer-loop position model predictive control (MPC) and an inner-loop nonlinear…

This paper presents a formal framework for collision avoidance in multi-robot systems, wherein an existing controller is modified in a minimally invasive fashion to ensure safety. We build this framework through the use of control barrier…

Safety in terms of collision avoidance for multi-robot systems is a difficult challenge under uncertainty, non-determinism and lack of complete information. This paper aims to propose a collision avoidance method that accounts for both…

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…

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…

Collision avoidance for robotic manipulators requires enforcing full-body safety constraints in high-dimensional configuration spaces. Control Barrier Function (CBF) based safety filters have proven effective in enabling safe behaviors, but…

Safe autonomy is a critical requirement and a key enabler for robots to operate safely in unstructured complex environments. Control barrier functions and safe motion corridors are two widely used but technically distinct safety methods,…

This paper investigates the problem of composing multiple control barrier functions (CBFs) -- and matrix control barrier functions (MCBFs) -- through logical and combinatorial operations. Standard CBF formulations naturally enable…