94 citations · 95 across the 6 of their papers we have counts for
15 papers
Safety-Critical Manipulation for Collision-Free Food Preparation
Andrew Singletary, William Guffey, Tamas G. Molnar +2
Recent advances allow for the automation of food preparation in high-throughput environments, yet the successful deployment of these robots requires the planning and execution of q…
Safe Control for Nonlinear Systems with Stochastic Uncertainty via Risk Control Barrier Functions
Andrew Singletary, Mohamadreza Ahmadi, Aaron D. Ames
Guaranteeing safety for robotic and autonomous systems in real-world environments is a challenging task that requires the mitigation of stochastic uncertainties. Control barrier fu…
Onboard Safety Guarantees for Racing Drones: High-speed Geofencing with Control Barrier Functions
Andrew Singletary, Aiden Swann, Yuxiao Chen +1
This paper details the theory and implementation behind practically ensuring safety of remotely piloted racing drones. We demonstrate robust and practical safety guarantees on a 7"…
Measurement-Robust Control Barrier Functions: Certainty in Safety with Uncertainty in State
Ryan K. Cosner, Andrew W. Singletary, Andrew J. Taylor +3
The increasing complexity of modern robotic systems and the environments they operate in necessitates the formal consideration of safety in the presence of imperfect measurements.…
Lidar-based exploration and discretization for mobile robot planning
Yuxiao Chen, Andrew Singletary, Aaron D. Ames
In robotic applications, the control, and actuation deal with a continuous description of the system and environment, while high-level planning usually works with a discrete descri…
Comparative Analysis of Control Barrier Functions and Artificial Potential Fields for Obstacle Avoidance
Andrew Singletary, Karl Klingebiel, Joseph Bourne +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…