Safe Navigation and Obstacle Avoidance Using Differentiable Optimization Based Control Barrier Functions

17 April 2023

Bolun Dai

Rooholla Khorrambakht

Prashanth Krishnamurthy

V. Gonccalves

Anthony Tzes

Farshad Khorrami

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Papers citing "Safe Navigation and Obstacle Avoidance Using Differentiable Optimization Based Control Barrier Functions"

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Title
NMPCB: A Lightweight and Safety-Critical Motion Control Framework Longze Zheng Qinghe Liu 42 0 0 03 May 2025
Polytope Volume Monitoring Problem: Formulation and Solution via Parametric Linear Program Based Control Barrier Function Shizhen Wu Jinyang Dong Xu Fang Ning Sun Yongchun Fang 78 0 0 16 Mar 2025
Safe, Task-Consistent Manipulation with Operational Space Control Barrier Functions Daniel Morton Marco Pavone 57 2 0 09 Mar 2025
T-CBF: Traversability-based Control Barrier Function to Navigate Vertically Challenging Terrain Manas Gupta Xuesu Xiao 64 0 0 08 Mar 2025
Optimization-free Smooth Control Barrier Function for Polygonal Collision Avoidance Shizhen Wu Yongchun Fang Ning Sun Biao Lu Xiao Liang Yiming Zhao 43 2 0 22 Feb 2025
SafeSwarm: Decentralized Safe RL for the Swarm of Drones Landing in Dense Crowds Grik Tadevosyan Maksim Osipenko Demetros Aschu A. Fedoseev Valerii Serpiva Oleg Sautenkov Sausar Karaf Dzmitry Tsetserukou 36 3 0 13 Jan 2025
Safe Dynamic Motion Generation in Configuration Space Using Differentiable Distance Fields Xuemin Chi Yiming Li Jihao Huang Bolun Dai Zhitao Liu Sylvain Calinon 74 1 0 21 Dec 2024
Non-Conservative Obstacle Avoidance for Multi-Body Systems Leveraging Convex Hulls and Predicted Closest Points Lotte Rassaerts Eke Suichies Bram van de Vrande Marco Alonso Bas Meere Michelle Chong Elena Torta 31 1 0 16 Oct 2024
Reactive Collision Avoidance for Safe Agile Navigation Alessandro Saviolo Niko Picello Rishabh Verma Giuseppe Loianno Giuseppe Loianno 35 0 0 18 Sep 2024
Robotic Shepherding in Cluttered and Unknown Environments using Control Barrier Functions Mahmoud Hamandi Farshad Khorrami Anthony Tzes 28 0 0 22 Jul 2024
Efficient Motion Planning for Manipulators with Control Barrier Function-Induced Neural Controller Mingxin Yu Chenning Yu M.-Mahdi Naddaf-Sh Devesh Upadhyay Sicun Gao Chuchu Fan 45 4 0 01 Apr 2024
Sailing Through Point Clouds: Safe Navigation Using Point Cloud Based Control Barrier Functions Bolun Dai Rooholla Khorrambakht Prashanth Krishnamurthy Farshad Khorrami 3DPC 28 4 0 27 Mar 2024
Grounding LLMs For Robot Task Planning Using Closed-loop State Feedback V. Bhat Ali Umut Kaypak Prashanth Krishnamurthy Ramesh Karri Farshad Khorrami LM&Ro 66 13 0 13 Feb 2024
Real-time Perceptive Motion Control using Control Barrier Functions with Analytical Smoothing for Six-Wheeled-Telescopic-Legged Robot Tachyon 3 Noriaki Takasugi Masaya Kinoshita Yasuhisa Kamikawa Ryoichi Tsuzaki Atsushi Sakamoto Toshimitsu Kai Yasunori Kawanami 20 5 0 18 Oct 2023
Differentiable Optimization Based Time-Varying Control Barrier Functions for Dynamic Obstacle Avoidance Bolun Dai Rooholla Khorrambakht M. Ciocarlie Farshad Khorrami 40 3 0 29 Sep 2023
Geometric Projectors: Geometric Constraints based Optimization for Robot Behaviors Xuemin Chi Tobias Löw Yiming Li Zhitao Liu Sylvain Calinon 23 2 0 15 Sep 2023
Safe Aerial Manipulator Maneuvering and Force Exertion via Control Barrier Functions Dimitris Chaikalis V. Gonçalves N. Evangeliou Anthony Tzes Farshad Khorrami 33 0 0 14 Sep 2023
Collision Avoidance for Ellipsoidal Rigid Bodies with Control Barrier Functions Designed from Rotating Supporting Hyperplanes Riku Funada Koju Nishimoto Tatsuya Ibuki M. Sampei 16 3 0 23 Aug 2023
MPC with Sensor-Based Online Cost Adaptation Avadesh Meduri Huaijiang Zhu Armand Jordana Ludovic Righetti 37 4 0 20 Sep 2022
Differentiable Collision Detection for a Set of Convex Primitives K. Tracy Taylor A. Howell Zachary Manchester 33 43 0 01 Jul 2022
Safety-Critical Control and Planning for Obstacle Avoidance between Polytopes with Control Barrier Functions A. Thirugnanam Jun Zeng Koushil Sreenath 82 62 0 25 Sep 2021
Learning Locomotion Controllers for Walking Using Deep FBSDE Bolun Dai Virinchi Roy Surabhi Prashanth Krishnamurthy Farshad Khorrami 26 7 0 16 Jul 2021