1 citations · 1 across the 4 of their papers we have counts for
4 papers
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…
Finite Boundary-Layer Residence Certificates for Non-Strict Control Barrier Functions
Tianyu Han, Guangwei Wang, Bo Wang
Non-strict control barrier function (CBF) conditions guarantee safety through forward invariance, but they do not preclude trajectories from remaining near the safe-set boundary fo…
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…
Safety-Critical Stabilization of Force-Controlled Nonholonomic Mobile Robots
Tianyu Han, Bo Wang
We present a safety-critical controller for the problem of stabilization for force-controlled nonholonomic mobile robots. The proposed control law is based on the constructions of…