相关论文: Safe Quadrotor Navigation using Composite Control …
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…
Control barrier functions (CBFs) recently introduced a systematic way to guarantee the system's safety through set invariance. Together with a nominal control method, it establishes a safety-critical control mechanism. The resulting safety…
This paper presents a novel safety filter framework that ensures both safety and the preservation of the legacy control action within a nominal region. This modular design allows the safety filter to be integrated into the control hierarchy…
This paper presents a novel approach for the safe control design of systems with parametric uncertainties in both drift terms and control-input matrices. The method combines control barrier functions and adaptive laws to generate a safe…
This paper proposes a safe reinforcement learning filter (SRLF) to realize multicopter collision-free trajectory tracking with input disturbance. A novel robust control barrier function (RCBF) with its analysis techniques is introduced to…
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…
Compositional barrier functions are proposed in this paper to systematically compose multiple objectives for teams of mobile robots. The objectives are first encoded as barrier functions, and then composed using AND and OR logical…
This paper presents a review of the design and application of model predictive control strategies for Micro Aerial Vehicles and specifically multirotor configurations such as quadrotors. The diverse set of works in the domain is organized…
Robots built from soft materials will inherently apply lower environmental forces than their rigid counterparts, and therefore may be more suitable in sensitive settings with unintended contact. However, these robots' applied forces result…
The problem of safety for robotic systems has been extensively studied. However, little attention has been given to security issues for three-dimensional systems, such as quadrotors. Malicious adversaries can compromise robot sensors and…
Despite advances in localization and navigation, aerial robots inevitably remain susceptible to accidents and collisions. In this work, we propose a passive foldable airframe as a protective mechanism for a small aerial robot. A foldable…
Safety is of great importance in multi-robot navigation problems. In this paper, we propose a control barrier function (CBF) based optimizer that ensures robot safety with both high probability and flexibility, using only sensor…
This paper introduces an approach for formally verifying the safety of the flight controller of an octorotor platform. Our method involves finding regions of the octorotor's state space that are considered safe, and which can be proven to…
The ability of aerial robots to operate in the presence of failures is crucial in various applications that demand continuous operations, such as surveillance, monitoring, and inspection. In this paper, we propose a fault-tolerant control…
Artificial potential fields (APFs) and their variants have been a staple for collision avoidance of mobile robots and manipulators for almost 40 years. Its model-independent nature, ease of implementation, and real-time performance have…
We propose new methods to synthesize control barrier function (CBF)-based safe controllers that avoid input saturation, which can cause safety violations. In particular, our method is created for high-dimensional, general nonlinear systems,…
Aerial manipulation for safe physical interaction with their environments is gaining significant momentum in robotics research. In this paper, we present a disturbance-observer-based safety-critical control for a fully actuated aerial…
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…
This paper addresses the problem of safety-critical control for non-affine control systems. It has been shown that optimizing quadratic costs subject to state and control constraints can be sub-optimally reduced to a sequence of quadratic…
SAFER-Splat (Simultaneous Action Filtering and Environment Reconstruction) is a real-time, scalable, and minimally invasive action filter, based on control barrier functions, for safe robotic navigation in a detailed map constructed at…