8 citations · 8 across the 3 of their papers we have counts for
4 papers
BubbleCBF: Constructive Safety for Second-Order Systems and Application to Autonomous Robot Navigation in Unknown Environments
Mani Amani, Mohammed Alyaseen, Zhirui Dai +3
Satisfying safety constraints for systems with second-order dynamics is challenging because a position constraint may require infeasible deceleration. Higher-order control barrier…
Sensor-Based Distributionally Robust Control for Safe Robot Navigation in Dynamic Environments
Kehan Long, Yinzhuang Yi, Zhirui Dai +3
We introduce a novel method for mobile robot navigation in dynamic, unknown environments, leveraging onboard sensing and distributionally robust optimization to impose probabilisti…
Continuous Approximations of Projected Dynamical Systems via Control Barrier Functions
Giannis Delimpaltadakis, Jorge Cortés, W. P. M. H. Heemels
Projected Dynamical Systems (PDSs) form a class of discontinuous constrained dynamical systems, and have been used widely to solve optimization problems and variational inequalitie…
Distributed Safe Navigation of Multi-Agent Systems using Control Barrier Function-Based Optimal Controllers
Pol Mestres, Carlos Nieto-Granda, Jorge Cortés
This paper proposes a distributed controller synthesis framework for safe navigation of multi-agent systems. We leverage control barrier functions to formulate collision avoidance…