6 papers
Lifelong Multi-Subsystem Pickup and Delivery with Buffer-Limited Handover Stations
Chuanlong Zang, Isabelle Barz, Anna Mannucci +3
Coordinating payload transfers between subsystems is a critical challenge in lifelong Multi-Agent Pickup and Delivery (MAPD). We study systems where agents are confined to separate…
CN-CBF: Composite Neural Control Barrier Function for Robot Navigation in Dynamic Environments
Bojan DerajiÄ, Sebastian Bernhard, Wolfgang Hönig
Safe navigation of autonomous robots remains one of the core challenges in the field, especially in dynamic and uncertain environments. One prevalent approach is safety filtering b…
GRACE: A Unified 2D Multi-Robot Path Planning Simulator & Benchmark for Grid, Roadmap, And Continuous Environments
Chuanlong Zang, Anna Mannucci, Isabelle Barz +3
Advancing Multi-Agent Pathfinding (MAPF) and Multi-Robot Motion Planning (MRMP) requires platforms that enable transparent, reproducible comparisons across modeling choices. Existi…
ORN-CBF: Learning Observation-conditioned Residual Neural Control Barrier Functions via Hypernetworks
Bojan DerajiÄ, Sebastian Bernhard, Wolfgang Hönig
Control barrier functions (CBFs) have been demonstrated as an effective method for safety-critical control of autonomous systems. Although CBFs are simple to deploy, their design r…
How to Model Your Crazyflie Brushless
Alexander Gräfe, Christoph Scherer, Wolfgang Hönig +1
The Crazyflie quadcopter is widely recognized as a leading platform for nano-quadcopter research. In early 2025, the Crazyflie Brushless was introduced, featuring brushless motors…
Residual Neural Terminal Constraint for MPC-based Collision Avoidance in Dynamic Environments
Bojan DerajiÄ, Mohamed-Khalil Bouzidi, Sebastian Bernhard +1
In this paper, we propose a hybrid MPC local planner that uses a learning-based approximation of a time-varying safe set, derived from local observations and applied as the MPC ter…