相关论文: Adaptive Deadlock Avoidance for Decentralized Mult…

We investigate a multi-agent planning problem, where each agent aims to achieve an individual task while avoiding collisions with others. We assume that each agent's task is expressed as a Time-Window Temporal Logic (TWTL) specification…

The theoretical unification of Nonlinear Model Predictive Control (NMPC) with Control Lyapunov Functions (CLFs) provides a framework for achieving optimal control performance while ensuring stability guarantees. In this paper we present the…

Ensuring liveness and safety of autonomous and cyber-physical systems remains a fundamental challenge, particularly when multiple safety constraints are present. This letter advances the theoretical foundations of safety-filter Quadratic…

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…

Recent methods using Reinforcement Learning (RL) have proven to be successful for training intelligent agents in unknown environments. However, RL has not been applied widely in real-world robotics scenarios. This is because current…

In collaborative human-robot environments, the unpredictable and dynamic nature of human motion can lead to situations where collisions become unavoidable. In such cases, it is essential for the robotic system to proactively mitigate…

Ensuring safe behavior is critical for modern autonomous cyber-physical systems. Control barrier functions (CBFs) are widely used to enforce safety in autonomous systems, yet their placement within networked control architectures remains…

This paper presents a novel task-priority control framework for redundant robotic systems based on a hierarchy of control Lyapunov function (CLF) and control barrier function (CBF) based quadratic programs (QPs). The proposed method…

This paper considers enforcing safety and stability of dynamical systems in the presence of model uncertainty. Safety and stability constraints may be specified using a control barrier function (CBF) and a control Lyapunov function (CLF),…

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…

Recently, there has been increasing attention in robot research towards the whole-body collision avoidance. In this paper, we propose a safety-critical controller that utilizes time-varying control barrier functions (time varying CBFs)…

Designing safety-critical controllers for acceleration-controlled unicycle robots is challenging, as control inputs may not appear in the constraints of control Lyapunov functions(CLFs) and control barrier functions (CBFs), leading to…

With the increasing emphasis on the safe autonomy for robots, model-based safe control approaches such as Control Barrier Functions have been extensively studied to ensure guaranteed safety during inter-robot interactions. In this paper, we…

Multi-agent safe systems have become an increasingly important area of study as we can now easily have multiple AI-powered systems operating together. In such settings, we need to ensure the safety of not only each individual agent, but…

We propose a method for combining Harmonic Control Lyapunov-Barrier Functions (HCLBFs) derived from Signal Temporal Logic (STL) specifications with any given robot policy to turn an unsafe policy into a safe one with formal guarantees. The…

Multi-agent path finding (MAPF) is an abstract model for the navigation of multiple robots in warehouse automation, where multiple robots plan collision-free paths from the start to goal positions. Reinforcement learning (RL) has been…

This paper presents a general end-to-end framework for constructing robust and reliable layered safety filters that can be leveraged to perform dynamic collision avoidance over a broad range of applications using only local perception data.…

In this paper we address the problem of control Lyapunov-barrier function (CLBF)-based safe stabilization for a class of nonlinear control-affine systems. A difficulty may arise for the case when a constraint has the relative degree larger…

We propose a framework for the decentralized control of a team of agents that are assigned local tasks expressed as Linear Temporal Logic (LTL) formulas. Each local LTL task specification captures both the requirements on the respective…

Safety is always one of the most critical principles for a system to be controlled. This paper investigates a safety-critical control scheme for unknown structured systems by using the control barrier function (CBF) method. Benefited from…