4 papers
GJK-CBF: Control Barrier Functions for Convex Rigid Body Collision Avoidance on SE(3)
Yi-Hsuan Chen, Shuo Liu, Wei Xiao +2
Collision avoidance among convex bodies is a fundamental problem in robotics. Control Barrier Functions (CBFs) provide a practical framework for real-time safety filtering due to t…
Exact Signed-Distance Control Barrier Functions via Minkowski Operations for Safe Navigation among Polytopes
Yi-Hsuan Chen, Shuo Liu, Wei Xiao +2
Safely navigating polytopic environments while respecting the dynamics, control, and exact geometry of the underlying system is a challenge in robotics. Control barrier functions (…
Multi-Defender Single-Attacker Perimeter Defense Game on a Cylinder: Special Case in which the Attacker Starts at the Boundary
Michael Otte, Roderich Groß
We describe a multi-agent perimeter defense game played on a cylinder. A team of n slow-moving defenders must prevent a single fast-moving attacker from crossing the boundary of a…
Control Barrier Functions via Minkowski Operations for Safe Navigation among Polytopic Sets
Yi-Hsuan Chen, Shuo Liu, Wei Xiao +2
Safely navigating around obstacles while respecting the dynamics, control, and geometry of the underlying system is a key challenge in robotics. Control Barrier Functions (CBFs) ge…