Papers citing 'Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function'

Title
Control Barrier Functions in Dynamic UAVs for Kinematic Obstacle Avoidance: A Collision Cone ApproachAmerican Control Conference (ACC), 2023 Manan Tayal Rajpal Singh Jishnu Keshavan Shishir Kolathaya 166 51 0 28 Mar 2023
Rate-Tunable Control Barrier Functions: Methods and Algorithms for Online AdaptationAmerican Control Conference (ACC), 2023 Hardik Parwana Dimitra Panagou 151 5 0 23 Mar 2023
Safer Gap: A Gap-based Local Planner for Safe Navigation with Nonholonomic Mobile Robots Shiyu Feng Ahmad Abuaish Patricio A. Vela 52 2 0 14 Mar 2023
AMSwarm: An Alternating Minimization Approach for Safe Motion Planning of Quadrotor Swarms in Cluttered EnvironmentsIEEE International Conference on Robotics and Automation (ICRA), 2023 V. K. Adajania Siqi Zhou Ashutosh Kumar Singh Angela P. Schoellig 149 21 0 08 Mar 2023
Online Control Barrier Functions for Decentralized Multi-Agent NavigationInternational Symposium on Multi-Robot and Multi-Agent Systems (MRS), 2023 Zhan Gao Guangtao Yang Amanda Prorok 187 21 0 08 Mar 2023
Greedy Synthesis of Event- and Self-Triggered Controls with Control Lyapunov-Barrier FunctionIEEE Conference on Decision and Control (CDC), 2023 M. Kishida 24 2 0 24 Feb 2023
Adaptive Aggregation for Safety-Critical Control Huiliang Zhang Di Wu Benoit Boulet 148 0 0 07 Feb 2023
Walking in Narrow Spaces: Safety-critical Locomotion Control for Quadrupedal Robots with Duality-based OptimizationIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022 Qiayuan Liao Zhongyu Li A. Thirugnanam Jun Zeng Koushil Sreenath 277 28 0 29 Dec 2022
Distributed Control within a Trapezoid Virtual Tube Containing Obstacles for UAV Swarm Subject to Speed ConstraintsIEEE Transactions on Control of Network Systems (IEEE TCNS), 2022 Yan Gao C. Bai Quan Quan 155 1 0 24 Dec 2022
Safe Reinforcement Learning with Probabilistic Control Barrier Functions for Ramp Merging Soumith Udatha Yiwei Lyu John M. Dolan 130 1 0 01 Dec 2022
Safety-Critical Ergodic Exploration in Cluttered Environments via Control Barrier FunctionsIEEE International Conference on Robotics and Automation (ICRA), 2022 Cameron J. Lerch Ethan Dong Ian Abraham 194 18 0 08 Nov 2022
Convex synthesis and verification of control-Lyapunov and barrier functions with input constraintsAmerican Control Conference (ACC), 2022 Hongkai Dai Frank Permenter 191 50 0 02 Oct 2022
Phy-Taylor: Physics-Model-Based Deep Neural Networks Y. Mao L. Sha Huajie Shao Yuliang Gu Qixin Wang Tarek Abdelzaher PINN AI4CE 185 1 0 27 Sep 2022
Dynamic Control Barrier Function-based Model Predictive Control to Safety-Critical Obstacle-Avoidance of Mobile RobotIEEE International Conference on Robotics and Automation (ICRA), 2022 Zhu Jian Zihong Yan Xuanang Lei Zih-Rong Lu Bin Lan Xueqian Wang Bin Liang 171 107 0 18 Sep 2022
Delay-aware Robust Control for Safe Autonomous Driving and Racing Dvij Kalaria Qin Lin John M. Dolan 96 8 0 29 Aug 2022
NMPC-LBF: Nonlinear MPC with Learned Barrier Function for Decentralized Safe Navigation of Multiple Robots in Unknown EnvironmentsIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022 Amir Salimi Lafmejani Spring Berman Georgios Fainekos 95 15 0 16 Aug 2022
Sample-efficient Safe Learning for Online Nonlinear Control with Control Barrier FunctionsWorkshop on the Algorithmic Foundations of Robotics (WAFR), 2022 Wenhao Luo Wen Sun Ashish Kapoor OffRL 150 10 0 29 Jul 2022
Responsibility-associated Multi-agent Collision Avoidance with Social Preferences Yiwei Lyu Wenhao Luo John M. Dolan 117 15 0 17 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 142 19 0 11 May 2022
A Sequential MPC Approach to Reactive Planning for Bipedal RobotsIEEE Robotics and Automation Letters (RA-L), 2022 K. S. Narkhede Abhijeet Mangesh Kulkarni Dhruv A. Thanki I. Poulakakis 163 36 0 30 Apr 2022
Adaptive Safe Merging Control for Heterogeneous Autonomous Vehicles using Parametric Control Barrier Functions Yiwei Lyu Wenhao Luo John M. Dolan 96 19 0 20 Feb 2022
Learning Differentiable Safety-Critical Control using Control Barrier Functions for Generalization to Novel EnvironmentsEuropean Control Conference (ECC), 2022 Hengbo Ma Bike Zhang Masayoshi Tomizuka Koushil Sreenath 240 25 0 04 Jan 2022
Model-Based Safe Reinforcement Learning with Time-Varying State and Control Constraints: An Application to Intelligent Vehicles Xinglong Zhang Yaoqian Peng Biao Luo Wei Pan Xin Xu Haibin Xie 112 17 0 18 Dec 2021
Autonomous Racing with Multiple Vehicles using a Parallelized Optimization with Safety Guarantee using Control Barrier Functions Suiyi He Jun Zeng Koushil Sreenath 228 29 0 13 Dec 2021
Safe Reinforcement Learning Using Robust Control Barrier FunctionsIEEE Robotics and Automation Letters (RA-L), 2021 Y. Emam Gennaro Notomista Paul Glotfelter Z. Kira M. Egerstedt OffRL 160 58 0 11 Oct 2021
Safety-Critical Control and Planning for Obstacle Avoidance between Polytopes with Control Barrier FunctionsIEEE International Conference on Robotics and Automation (ICRA), 2021 A. Thirugnanam Jun Zeng Koushil Sreenath 281 85 0 25 Sep 2021
Autonomous Navigation of Underactuated Bipedal Robots in Height-Constrained Environments Zhongyu Li Jun Zeng Shuxiao Chen Koushil Sreenath 219 29 0 13 Sep 2021
Learning Barrier Certificates: Towards Safe Reinforcement Learning with Zero Training-time Violations Yuping Luo Tengyu Ma OffRL 169 48 0 04 Aug 2021
Duality-based Convex Optimization for Real-time Obstacle Avoidance between Polytopes with Control Barrier FunctionsAmerican Control Conference (ACC), 2021 A. Thirugnanam Jun Zeng Koushil Sreenath 160 28 0 18 Jul 2021
Enhancing Feasibility and Safety of Nonlinear Model Predictive Control with Discrete-Time Control Barrier FunctionsIEEE Conference on Decision and Control (CDC), 2021 Jun Zeng Zhongyu Li Koushil Sreenath 155 103 0 21 May 2021
Probabilistic Safety-Assured Adaptive Merging Control for Autonomous VehiclesIEEE International Conference on Robotics and Automation (ICRA), 2021 Yiwei Lyu Wenhao Luo John M. Dolan 114 44 0 29 Apr 2021
Toward Safety-Aware Informative Motion Planning for Legged Robots Sangli Teng Yukai Gong J. Grizzle Maani Ghaffari 120 39 0 26 Mar 2021
Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive ControlIEEE International Conference on Robotics and Automation (ICRA), 2020 R. Grandia Andrew J. Taylor Aaron D. Ames Marco Hutter 263 141 0 30 Oct 2020