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20242026
most citedSafety-Critical Stabilization of Force-Controlled Nonholonomic Mobile Robots

1 citations · 1 across the 4 of their papers we have counts for

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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.SY2026

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…