2 papers
eess.SY2026
Scaling-Based Reciprocal Control Barrier Functions for Nonholonomic Mobile Robots
Tianyu Han, Bo Wang
This paper studies the construction of control barrier functions (CBFs) for force-controlled nonholonomic mobile robots subject to relative-degree-two safety constraints arising fr…
eess.SY2025
Further Results on Safety-Critical Stabilization of Force-Controlled Nonholonomic Mobile Robots
Bo Wang, Tianyu Han, Guangwei Wang
In this paper, we address the stabilization problem for force-controlled nonholonomic mobile robots under safety-critical constraints. We propose a continuous, time-invariant contr…