相关论文: A Safe Hybrid Control Framework for Car-like Robot…

This paper presents a novel feedback method on the motion planning for unicycle robots in environments with static obstacles, along with an extension to the distributed planning and coordination in multi-robot systems. The method employs a…

This paper derives a closed-form method for computing hybrid force-velocity control. The key idea is to maximize the kinematic conditioning of the mechanical system, which includes a robot, free objects, a rigid environment and contact…

This paper proposes a safety-critical locomotion control framework employed for legged robots exploring through infeasible path in obstacle-rich environments. Our research focus is on achieving safe and robust locomotion where robots…

This work presents an efficient method to solve a class of continuous-time, continuous-space stochastic optimal control problems of robot motion in a cluttered environment. The method builds upon a path integral representation of the…

We consider the problem of safe real-time navigation of a robot in a dynamic environment with moving obstacles of arbitrary smooth geometries and input saturation constraints. We assume that the robot detects and models nearby obstacle…

Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in…

This paper investigates the safe platoon formation tracking and merging control problem of connected and automated vehicles (CAVs) on curved multi-lane roads. The first novelty is the separation of the control designs into two distinct…

Aiming to promote the wide adoption of safety filters for autonomous aerial robots, this paper presents a safe control architecture designed for seamless integration into widely used open-source autopilots. Departing from methods that…

We present a unified framework for path-parametric planning and control. This formulation is universal as it standardizes the entire spectrum of path-parametric techniques -- from traditional path following to more recent contouring or…

The main objective of this paper is to provide a tool for performing path planning at the servo level of a mobile robot. The ability to perform, in a provably correct manner, such a complex task at the servo level can lead to a large…

This work addresses the challenge of safe and efficient mobile robot navigation in complex dynamic environments with concave moving obstacles. Reactive safe controllers like Control Barrier Functions (CBFs) design obstacle avoidance…

In multi-obstacle environments, real-time performance and safety in robot motion control have long been challenging issues, as conventional methods often struggle to balance the two. In this paper, we propose a novel motion control…

We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…

This work combines control barrier functions (CBFs) with a whole-body controller to enable self-collision avoidance for the MIT Humanoid. Existing reactive controllers for self-collision avoidance cannot guarantee collision-free…

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…

For many tasks, predictive path-following control can significantly improve the performance and robustness of autonomous robots over traditional trajectory tracking control. It does this by prioritizing closeness to the path over timed…

We address the security of a network of Connected and Automated Vehicles (CAVs) cooperating to safely navigate through a conflict area (e.g., traffic intersections, merging roadways, roundabouts). Previous studies have shown that such a…

Endowing nonlinear systems with safe behavior is increasingly important in modern control. This task is particularly challenging for real-life control systems that must operate safely in dynamically changing environments. This paper…

The barrier function method for safety control typically assumes the availability of full state information. Unfortunately, in many scenarios involving uncertain dynamical systems, full state information is often unavailable. In this paper,…

With the recent surge of interest in UAVs for civilian services, the importance of developing tractable multi-agent analysis techniques that provide safety and performance guarantees have drastically increased. Hamilton-Jacobi (HJ)…