相关论文: Full-Body Dynamic Safety for Robot Manipulators: 3…

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…

Control barrier functions (CBFs) have become a popular tool to enforce safety of a control system. CBFs are commonly utilized in a quadratic program formulation (CBF-QP) as safety-critical constraints. A class $\mathcal{K}$ function in CBFs…

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…

Ensuring the safety of dynamical systems is crucial, where collision avoidance is a primary concern. Recently, control barrier functions (CBFs) have emerged as an effective method to integrate safety constraints into control synthesis…

Control Barrier Functions (CBFs) are an effective methodology to ensure safety and performative efficacy in real-time control applications such as power systems, resource allocation, autonomous vehicles, robotics, etc. This approach ensures…

This paper presents a decentralized safety filter for collision avoidance in multi-agent aerospace interception scenarios. The approach leverages robust control barrier functions (RCBFs) to guarantee forward invariance of safety sets under…

This paper presents a novel collision avoidance method for general ellipsoids based on control barrier functions (CBFs) and separating hyperplanes. First, collision-free conditions for general ellipsoids are analytically derived using the…

This letter addresses the constraint compatibility problem of control barrier functions (CBFs), which occurs when a safety-critical CBF requires a system to apply more control effort than it is capable of generating. This inevitably leads…

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…

Autonomous collision avoidance requires accurate environmental perception; however, flight systems often possess limited sensing capabilities with field-of-view (FOV) restrictions. To navigate this challenge, we present a safety-aware…

This paper studies the efficient implementation of safety filters that are designed using control barrier functions (CBFs), which minimally modify a nominal controller to render it safe with respect to a prescribed set of states. Although…

We present a closed-form optimal feedback control method that ensures safety in an a prior unknown and potentially dynamic environment. This article considers the scenario where local perception data (e.g., LiDAR) is obtained periodically,…

This paper presents a safety-critical approach to the coordinated control of cooperative robots locomoting in the presence of fixed (holonomic) constraints. To this end, we leverage control barrier functions (CBFs) to ensure the safe…

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…

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,…

Dynamic obstacle avoidance is a challenging topic for optimal control and optimization-based trajectory planning problems. Many existing works use Control Barrier Functions (CBFs) to enforce safety constraints for control systems. CBFs are…

This paper considers collision avoidance for vehicles with first-order nonholonomic constraints maintaining nonzero forward speeds, moving within dynamic environments. We leverage the concept of control barrier functions (CBFs) to…

Researchers have developed various cascaded controllers and non-cascaded controllers for the navigation and control of quadrotors in recent years. It is vital to ensure the safety of a quadrotor both in normal state and in abnormal state if…

The integration of autonomous mobile robots (AMRs) in industrial environments, particularly warehouses, has revolutionized logistics and operational efficiency. However, ensuring the safety of human workers in dynamic, shared spaces remains…

Over the decades, kinematic controllers have proven to be practically useful for applications like set-point and trajectory tracking in robotic systems. To this end, we formulate a novel safety-critical paradigm for kinematic control in…