2 citations · 2 across the 2 of their papers we have counts for
4 papers
TTCBF: A Truncated Taylor Control Barrier Function for High-Order Safety Constraints
Jianye Xu, Bassam Alrifaee
Control Barrier Functions (CBFs) enforce safety by rendering a prescribed safe set forward invariant. However, standard CBFs are limited to safety constraints with relative degree…
High-Order Control Barrier Functions: Insights and a Truncated Taylor-Based Formulation
Jianye Xu, Bassam Alrifaee
We examine the complexity of the standard High-Order Control Barrier Function (HOCBF) approach and propose a truncated Taylor-based approach that reduces design parameters. First,…
A Learning-Based Control Barrier Function for Car-Like Robots: Toward Less Conservative Collision Avoidance
Jianye Xu, Bassam Alrifaee
We propose a learning-based Control Barrier Function (CBF) to reduce conservatism in collision avoidance for car-like robots. Traditional CBFs often use the Euclidean distance betw…
Limiting Computation Levels in Prioritized Trajectory Planning with Safety Guarantees
Jianye Xu, Patrick Scheffe, Bassam Alrifaee
In prioritized planning for vehicles, vehicles plan trajectories in parallel or in sequence. Parallel prioritized planning offers approximately consistent computation time regardle…