Safety-Critical Planning and Control for Dynamic Obstacle Avoidance Using Control Barrier Functions

Safety-Critical Planning and Control for Dynamic Obstacle Avoidance Using Control Barrier Functions

28 March 2024

Calin A. Belta

Papers citing "Safety-Critical Planning and Control for Dynamic Obstacle Avoidance Using Control Barrier Functions"

16 / 16 papers shown

Title
Safe Navigation in Uncertain Crowded Environments Using Risk Adaptive CVaR Barrier Functions Xinyi Wang Taekyung Kim Bardh Hoxha Georgios Fainekos Dimitra Panagou 100 0 0 09 Apr 2025
Control Barrier Functions via Minkowski Operations for Safe Navigation among Polytopic Sets Yi-Hsuan Chen Shuo Liu Wei Xiao C. Belta Michael Otte 80 1 0 01 Apr 2025
RRT-CBF Based Motion Planning Leonas Liu Yingfan Zhang Larry Zhang Mehbi Kermanshabi 73 2 0 01 Oct 2024
Decentralized Nonlinear Model Predictive Control for Safe Collision Avoidance in Quadrotor Teams with Limited Detection Range Manohari Goarin Guanrui Li Alessandro Saviolo Giuseppe Loianno 57 2 0 25 Sep 2024
Obstacle Avoidance for Unicycle-Modelled Mobile Robots with Time-varying Control Barrier Functions Jihao Huang Zhitao Liu Jun Zeng Xuemin Chi Hongye Su 53 8 0 17 Jul 2023
Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions Shuo Liu Jun Zeng Koushil Sreenath C. Belta 123 20 0 09 Oct 2022
Dynamic Control Barrier Function-based Model Predictive Control to Safety-Critical Obstacle-Avoidance of Mobile Robot Zhu Jian Zihong Yan Xuanang Lei Zih-Rong Lu Bin Lan Xueqian Wang Bin Liang 90 72 0 18 Sep 2022
Adaptive Sampling-based Motion Planning with Control Barrier Functions A. Ahmad C. Belta Roberto Tron 38 13 0 01 Jun 2022
Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models Zhongyu Li Jun Zeng A. Thirugnanam Koushil Sreenath 48 16 0 11 May 2022
Enhancing Feasibility and Safety of Nonlinear Model Predictive Control with Discrete-Time Control Barrier Functions Jun Zeng Zhongyu Li Koushil Sreenath 35 79 0 21 May 2021
Safe and Robust Motion Planning for Dynamic Robotics via Control Barrier Functions A. Manjunath Quan Nguyen 38 40 0 13 Nov 2020
Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control R. Grandia Andrew J. Taylor Aaron D. Ames Marco Hutter 45 123 0 30 Oct 2020
Sampling-based Motion Planning via Control Barrier Functions Guang Yang Bee Vang Zachary Serlin C. Belta Roberto Tron 39 38 0 15 Jul 2019
MPC for Humanoid Gait Generation: Stability and Feasibility Nicola Scianca Daniele De Simone L. Lanari G. Oriolo 68 103 0 24 Jan 2019
Optimization-Based Autonomous Racing of 1:43 Scale RC Cars Alexander Liniger A. Domahidi M. Morari 55 486 0 20 Nov 2017
Sampling-based Algorithms for Optimal Motion Planning S. Karaman Emilio Frazzoli 97 4,689 0 05 May 2011