52 citations · 156 across the 18 of their papers we have counts for
3 papers · 1 filter
Safe Aerial Manipulator Maneuvering and Force Exertion via Control Barrier Functions
Dimitris Chaikalis, Vinicius Goncalves, Nikolaos Evangeliou +2
This article introduces a safe control strategy for application of forces to an external object using a dexterous robotic arm mounted on an unmanned Aerial Vehicle (UAV). A hybrid…
Using Circulation to Mitigate Spurious Equilibria in Control Barrier Function -- Extended Version
Vinicius Mariano Goncalves, Prashanth Krishnamurthy, Anthony Tzes +1
Control Barrier Functions and Quadratic Programming are increasingly used for designing controllers that consider critical safety constraints. However, like Artificial Potential Fi…
Safe Navigation and Obstacle Avoidance Using Differentiable Optimization Based Control Barrier Functions
Bolun Dai, Rooholla Khorrambakht, Prashanth Krishnamurthy +3
Control barrier functions (CBFs) have been widely applied to safety-critical robotic applications. However, the construction of control barrier functions for robotic systems remain…