67 citations · 135 across the 21 of their papers we have counts for
3 papers · 1 filter
Advances in the Theory of Control Barrier Functions: Addressing Practical Challenges in Safe Control Synthesis for Autonomous and Robotic Systems
Kunal Garg, James Usevitch, Joseph Breeden +4
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 control…
Eclares: Energy-Aware Clarity-Driven Ergodic Search
Kaleb Ben Naveed, Devansh Agrawal, Christopher Vermillion +1
Planning informative trajectories while considering the spatial distribution of the information over the environment, as well as constraints such as the robot's limited battery cap…
Sensor-based Planning and Control for Robotic Systems: Introducing Clarity and Perceivability
Devansh R Agrawal, Dimitra Panagou
We introduce an information measure, termed clarity, motivated by information entropy, and show that it has intuitive properties relevant to dynamic coverage control and informativ…