4 papers
Safe Dynamic Motion Generation in Configuration Space Using Differentiable Distance Fields
Xuemin Chi, Yiming Li, Jihao Huang +3
Generating collision-free motions in dynamic environments is a challenging problem for high-dimensional robotics, particularly under real-time constraints. Control Barrier Function…
GeoPro-VO: Dynamic Obstacle Avoidance with Geometric Projector Based on Velocity Obstacle
Jihao Huang, Xuemin Chi, Jun Zeng +2
Optimization-based approaches are widely employed to generate optimal robot motions while considering various constraints, such as robot dynamics, collision avoidance, and physical…
Geometric Projectors: Geometric Constraints based Optimization for Robot Behaviors
Xuemin Chi, Tobias Löw, Yiming Li +2
Generating motion for robots that interact with objects of various shapes is a complex challenge, further complicated when the robot's own geometry and multiple desired behaviors a…
Obstacle Avoidance for Unicycle-Modelled Mobile Robots with Time-varying Control Barrier Functions
Jihao Huang, Zhitao Liu, Jun Zeng +2
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 ac…