2 papers
eess.SY2024
Safe Reference Tracking and Collision Avoidance for Taxiing Aircraft Using an MPC-CBF Framework
Brooks A. Butler, Zarif Cabrera, Andy Nguyen +1
In this paper, we develop a framework for the automatic taxiing of aircraft between hangar and take-off given a graph-based model of an airport. We implement a high-level path-plan…
cs.RO2024
Collaborative Safety-Critical Formation Control with Obstacle Avoidance
Brooks A. Butler, Chi Ho Leung, Philip E. Paré
This work explores a collaborative method for ensuring safety in multi-agent formation control problems. We formulate a control barrier function (CBF) based safety filter control l…