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cs.RO2023
Differentiable Optimization Based Time-Varying Control Barrier Functions for Dynamic Obstacle Avoidance
Bolun Dai, Rooholla Khorrambakht, Prashanth Krishnamurthy +1
Control barrier functions (CBFs) provide a simple yet effective way for safe control synthesis. Recently, work has been done using differentiable optimization (diffOpt) based metho…
cs.RO2023★ 47 cited
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…