6 papers · 1 filter
Spatio-Temporal Reconnection for Multi-Robot Networks using Adaptive Prescribed-Time CBFs
Hao Liu, Yupeng Yang, Yanze Zhang +1
In multi-robot systems, maintaining persistent communication graph connectivity is often overly restrictive, especially when robots have limited communication ranges but operate in…
Geometry-Aware Control Barrier Functions for Collision Avoidance via Bernstein Polynomial Approximations
Siwon Jo, Yanze Zhang, Yupeng Yang +1
Safe navigation often relies on well-defined conditions based on the shape of robots and obstacles, and can be challenging when they have irregular geometries. While Control Barrie…
Integrating Online Learning and Connectivity Maintenance for Communication-Aware Multi-Robot Coordination
Yupeng Yang, Yiwei Lyu, Yanze Zhang +2
This paper proposes a novel data-driven control strategy for maintaining connectivity in networked multi-robot systems. Existing approaches often rely on a pre-determined communica…
Courteous MPC for Autonomous Driving with CBF-inspired Risk Assessment
Yanze Zhang, Yiwei Lyu, Sude E. Demir +4
With more autonomous vehicles (AVs) sharing roadways with human-driven vehicles (HVs), ensuring safe and courteous maneuvers that respect HVs' behavior becomes increasingly importa…
Decentralized Multi-Robot Line-of-Sight Connectivity Maintenance under Uncertainty
Yupeng Yang, Yiwei Lyu, Yanze Zhang +2
In this paper, we propose a novel decentralized control method to maintain Line-of-Sight connectivity for multi-robot networks in the presence of Guassian-distributed localization…
Occlusion-Free Image Based Visual Servoing using Probabilistic Control Barrier Certificates
Yanze Zhang, Yupeng Yang, Wenhao Luo
Image-based visual servoing (IBVS) is a widely-used approach in robotics that employs visual information to guide robots towards desired positions. However, occlusions in this appr…