相关论文: Full-Body Dynamic Safety for Robot Manipulators: 3…
In this paper, we propose a method to avoid "no-solution" situations of the control barrier function (CBF) for distributed collision avoidance in a multiagent autonomous robotic system (MARS). MARS, which is composed of distributed…
Ensuring safe robot operation in cluttered and dynamic environments remains a fundamental challenge. While control barrier functions provide an effective framework for real-time safety filtering, their performance critically depends on the…
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…
Ensuring safety for autonomous robots operating in dynamic environments can be challenging due to factors such as unmodeled dynamics, noisy sensor measurements, and partial observability. To account for these limitations, it is common to…
Safe control for inherently unstable systems such as quadrotors is crucial. Imposing multiple dynamic constraints simultaneously on the states for safety regulation can be a challenging problem. In this paper, we propose a quadratic…
This paper tackles the problem of safe and efficient area coverage using a multi-agent system operating in environments with obstacles. Applications such as environmental monitoring and search and rescue require robot swarms to cover large…
Safety is a fundamental requirement of many robotic systems. Control barrier function (CBF)-based approaches have been proposed to guarantee the safety of robotic systems. However, the effectiveness of these approaches highly relies on the…
Incorporating both flexible and rigid components in robot designs offers a unique solution to the limitations of traditional rigid robotics by enabling both compliance and strength. This paper explores the challenges and solutions for…
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…
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 presents a time-varying soft-maximum composite control barrier function (CBF) that can be used to ensure safety in an a priori unknown environment, where local perception information regarding the safe set is periodically…
Safety-critical control is essential for humanoid robots operating in complex human-centered environments, where physical safety constraints such as joint limits, self-collision avoidance, obstacle avoidance, and workspace boundaries must…
Safety is a fundamental requirement of control systems. Control Barrier Functions (CBFs) are proposed to ensure the safety of the control system by constructing safety filters or synthesizing control inputs. However, the safety guarantee…
This paper addresses the target-pursuit problem, aiming to ensure each pursuer's safety regarding collision avoidance, sensing range, and input saturation. An input-constrained CBF is proposed to dynamically regulate the pursuer's control,…
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…
In order to be effective partners for humans, robots must become increasingly comfortable with making contact with their environment. Unfortunately, it is hard for robots to distinguish between ``just enough'' and ``too much'' force: some…
In this work, we address the problem of ensuring real-time safety in autonomous robot navigation, in spatially constrained dynamic environments, by utilizing only onboard sensors. We present a real-time control architecture that integrates…
This contribution introduces a centralized input constrained optimal control framework based on multiple control barrier functions (CBFs) to coordinate connected and automated agents at intersections. For collision avoidance, we propose a…
Safety has been of paramount importance in motion planning and control techniques and is an active area of research in the past few years. Most safety research for mobile robots target at maintaining safety with the notion of collision…
Robots operating alongside people, particularly in sensitive scenarios such as aiding the elderly with daily tasks or collaborating with workers in manufacturing, must guarantee safety and cultivate user trust. Continuum soft manipulators…