相关论文: Efficient COLREGs-Compliant Collision Avoidance us…

Optimal control for safety-critical systems is often dependent on the conservativeness of constraints. Control Barrier Functions (CBFs) serve as a medium to represent such constraints, but constructing a minimally conservative CBF is a…

The problem of control based on vision measurements (bearings) has been amply studied in the literature; however, the problem of addressing the limits of the field of view of physical sensors has received relatively less attention…

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…

Control barrier functions (CBFs) are an effective model-based tool to formally certify the safety of a system. With the growing complexity of modern control problems, CBFs have received increasing attention in both optimization-based and…

We address the problem of optimizing the performance of a dynamic system while satisfying hard safety constraints at all times. Implementing an optimal control solution is limited by the computational cost required to derive it in real…

This letter studies a distributed collision avoidance control problem for a group of rigid bodies on a sphere. A rigid body network, consisting of multiple rigid bodies constrained to a spherical surface and an interconnection topology, is…

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…

This paper addresses the challenge of ensuring safety and feasibility in control systems using Control Barrier Functions (CBFs). Existing CBF-based Quadratic Programs (CBF-QPs) often encounter feasibility issues due to mixed relative degree…

In this paper, we study a safe control design for dynamical systems in the presence of uncertainty in a dynamical environment. The worst-case error approach is considered to formulate robust Control Barrier Functions (CBFs) in an…

Optimal control methods provide solutions to safety-critical problems but easily become intractable. Control Barrier Functions (CBFs) have emerged as a popular technique that facilitates their solution by provably guaranteeing safety,…

The safety of training task policies and their subsequent application using reinforcement learning (RL) methods has become a focal point in the field of safe RL. A central challenge in this area remains the establishment of theoretical…

This paper introduces a method for effectively controlling the movement of an Unmanned Aerial Vehicle (UAV) within a tunnel. The primary challenge of this problem lies in the UAV's exposure to nonlinear distance-dependent torques and forces…

Multi-quadrotor systems face significant challenges in decentralized control, particularly with safety and coordination under sensing and communication limitations. State-of-the-art methods leverage Control Barrier Functions (CBFs) to…

Control barrier functions (CBFs) offer a powerful tool for enforcing safety specifications in control synthesis. This paper deals with the problem of constructing valid CBFs. Given a second-order system and any desired safety set with…

Heading towards navigational autonomy in unmanned surface vehicles (USVs) in the maritime sector can fundamentally lead towards safer waters as well as reduced operating costs, while also providing a range of exciting new capabilities for…

Safety critical systems involve the tight coupling between potentially conflicting control objectives and safety constraints. As a means of creating a formal framework for controlling systems of this form, and with a view toward automotive…

This tutorial paper presents recent work of the authors that extends the theory of Control Barrier Functions (CBFs) to address practical challenges in the synthesis of safe controllers for autonomous systems and robots. We present novel…

Safety is of paramount importance in control systems to avoid costly risks and catastrophic damages. The control barrier function (CBF) method, a promising solution for safety-critical control, poses a new challenge of enhancing control…

Safety-critical whole-body robot control demands reactive methods that ensure collision avoidance in real-time. Complementarity constraints and control barrier functions (CBF) have emerged as core tools for ensuring such safety constraints,…

This paper demonstrates that the safety override arising from the use of a barrier function can in some cases be needlessly restrictive. In particular, we examine the case of fixed-wing collision avoidance and show that when using a barrier…