4 papers
RNBF: Real-Time RGB-D Based Neural Barrier Functions for Safe Robotic Navigation
Satyajeet Das, Yifan Xue, Haoming Li +1
Autonomous safe navigation in unstructured and novel environments poses significant challenges, especially when environment information can only be provided through low-cost vision…
Gradient Field-Based Dynamic Window Approach for Collision Avoidance in Complex Environments
Ze Zhang, Yifan Xue, Nadia Figueroa +1
For safe and flexible navigation in multi-robot systems, this paper presents an enhanced and predictive sampling-based trajectory planning approach in complex environments, the Gra…
ADMM-MCBF-LCA: A Layered Control Architecture for Safe Real-Time Navigation
Anusha Srikanthan, Yifan Xue, Vijay Kumar +2
We consider the problem of safe real-time navigation of a robot in a dynamic environment with moving obstacles of arbitrary smooth geometries and input saturation constraints. We a…
No Minima, No Collisions: Combining Modulation and Control Barrier Function Strategies for Feasible Dynamic Collision Avoidance
Yifan Xue, Nadia Figueroa
Control Barrier Function Quadratic Programs (CBF-QPs) have become a central tool for real-time safety-critical control due to their applicability to general control-affine systems…