5 citations · 12 across the 18 of their papers we have counts for
7 papers · 1 filter
SwarmGPT: Combining Large Language Models with Safe Motion Planning for Drone Swarm Choreography
Martin Schuck, Dinushka Orrin Dahanaggamaarachchi, Ben Sprenger +3
Drone swarm performances -- synchronized, expressive aerial displays set to music -- have emerged as a captivating application of modern robotics. Yet designing smooth, safe choreo…
Semantically Safe Robot Manipulation: From Semantic Scene Understanding to Motion Safeguards
Lukas Brunke, Yanni Zhang, Ralf Römer +4
Ensuring safe interactions in human-centric environments requires robots to understand and adhere to constraints recognized by humans as "common sense" (e.g., "moving a cup of wate…
Preventing Inactive CBF Safety Filters Caused by Invalid Relative Degree Assumptions
Lukas Brunke, Siqi Zhou, Angela P. Schoellig
Control barrier function (CBF) safety filters emerged as a popular framework to certify and modify potentially unsafe control inputs, for example, provided by a reinforcement learn…
Closing the Perception-Action Loop for Semantically Safe Navigation in Semi-Static Environments
Jingxing Qian, Siqi Zhou, Nicholas Jianrui Ren +2
Autonomous robots navigating in changing environments demand adaptive navigation strategies for safe long-term operation. While many modern control paradigms offer theoretical guar…
Practical Considerations for Discrete-Time Implementations of Continuous-Time Control Barrier Function-Based Safety Filters
Lukas Brunke, Siqi Zhou, Mingxuan Che +1
Safety filters based on control barrier functions (CBFs) have become a popular method to guarantee safety for uncertified control policies, e.g., as resulting from reinforcement le…
Is Data All That Matters? The Role of Control Frequency for Learning-Based Sampled-Data Control of Uncertain Systems
Ralf Römer, Lukas Brunke, Siqi Zhou +1
Learning models or control policies from data has become a powerful tool to improve the performance of uncertain systems. While a strong focus has been placed on increasing the amo…
Control-Barrier-Aided Teleoperation with Visual-Inertial SLAM for Safe MAV Navigation in Complex Environments
Siqi Zhou, Sotiris Papatheodorou, Stefan Leutenegger +1
In this paper, we consider a Micro Aerial Vehicle (MAV) system teleoperated by a non-expert and introduce a perceptive safety filter that leverages Control Barrier Functions (CBFs)…