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Enhancing Feasibility and Safety of Nonlinear Model Predictive Control with Discrete-Time Control Barrier Functions

21 May 2021

Papers citing "Enhancing Feasibility and Safety of Nonlinear Model Predictive Control with Discrete-Time Control Barrier Functions"

31 / 31 papers shown

Title
NMPCB: A Lightweight and Safety-Critical Motion Control Framework Longze Zheng Qinghe Liu 88 0 0 03 May 2025
Low Rank Factorizations are Indirect Encodings for Deep Neuroevolution Jack Garbus Jordan Pollack 88 0 0 03 Apr 2025
Safety-Critical and Distributed Nonlinear Predictive Controllers for Teams of Quadrupedal Robots Basit Muhammad Imran Jeeseop Kim Taizoon Chunawala Alexander Leonessa K. Hamed 74 0 0 18 Mar 2025
SAFE-TAXI: A Hierarchical Multi-UAS Safe Auto-Taxiing Framework with Runtime Safety Assurance and Conflict Resolution Kartik A. Pant Li-Yu Lin Worawis Sribunma Sabine Brunswicker James M. Goppert Inseok Hwang 87 0 0 06 Mar 2025
Optimal Trajectory Planning for Cooperative Manipulation with Multiple Quadrotors Using Control Barrier Functions Arpan Pallar Guanrui Li Mrunal Sarvaiya Giuseppe Loianno 85 0 0 03 Mar 2025
Reinforcement Learning-based Receding Horizon Control using Adaptive Control Barrier Functions for Safety-Critical Systems Ehsan Sabouni Hijaz Ahmad Vittorio Giammarino Christos G. Cassandras I. Paschalidis Wenchao Li 174 2 0 21 Feb 2025
GSON: A Group-based Social Navigation Framework with Large Multimodal Model Shangyi Luo Ji Zhu Peng Sun Yuhong Deng Cunjun Yu Anxing Xiao Xueqian Wang LM&Ro 150 3 0 26 Sep 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 69 2 0 25 Sep 2024
Learning to Refine Input Constrained Control Barrier Functions via Uncertainty-Aware Online Parameter Adaptation Taekyung Kim Robin Inho Kee Dimitra Panagou 108 8 0 22 Sep 2024
Safe and Real-Time Consistent Planning for Autonomous Vehicles in Partially Observed Environments via Parallel Consensus Optimization Lei Zheng Rui Yang Minzhe Zheng Michael Yu Wang Jun Ma 64 1 0 16 Sep 2024
Forward Invariance in Trajectory Spaces for Safety-critical Control Matti Vahs Rafael I. Cabral Muchacho Florian T. Pokorny Jana Tumova 132 2 0 17 Jul 2024
Socially-Aware Shared Control Navigation for Assistive Mobile Robots in the Built Environment Yifan Xu Qianwei Wang V. Kamat Carol Menassa 76 1 0 27 May 2024
Flexible Active Safety Motion Control for Robotic Obstacle Avoidance: A CBF-Guided MPC Approach Jinhao Liu Jun Yang Jianliang Mao Tianqi Zhu Qihang Xie Yimeng Li Xiangyu Wang Shihua Li 57 5 0 20 May 2024
Robot Safe Planning In Dynamic Environments Based On Model Predictive Control Using Control Barrier Function Zetao Lu Kaijun Feng Jun Xu Haoyao Chen Yunjiang Lou 56 3 0 09 Apr 2024
Safety-Critical Planning and Control for Dynamic Obstacle Avoidance Using Control Barrier Functions Shuo Liu Yihui Mao Calin A. Belta 96 8 0 28 Mar 2024
Incremental Bayesian Learning for Fail-Operational Control in Autonomous Driving Lei Zheng Rui Yang Zeng Peng Wei Yan Michael Yu Wang Jun Ma 65 2 0 07 Mar 2024
Obstacle Avoidance for Unicycle-Modelled Mobile Robots with Time-varying Control Barrier Functions Jihao Huang Zhitao Liu Jun Zeng Xuemin Chi Hongye Su 69 9 0 17 Jul 2023
Bounding Optimality Gaps for Non-Convex Optimization Problems: Applications to Nonlinear Safety-Critical Systems Prithvi Akella Aaron D. Ames 72 0 0 07 Apr 2023
Auxiliary-Variable Adaptive Control Barrier Functions for Safety Critical Systems Shuo Liu Wei Xiao C. Belta 61 10 0 01 Apr 2023
Rate-Tunable Control Barrier Functions: Methods and Algorithms for Online Adaptation Hardik Parwana Dimitra Panagou 55 4 0 23 Mar 2023
Online Control Barrier Functions for Decentralized Multi-Agent Navigation Zhan Gao Guangtao Yang Amanda Prorok 102 16 0 08 Mar 2023
MEGA-DAgger: Imitation Learning with Multiple Imperfect Experts Xiatao Sun Shuo Yang Mingyan Zhou Kunpeng Liu Rahul Mangharam OffRL 64 14 0 01 Mar 2023
Shield Model Predictive Path Integral: A Computationally Efficient Robust MPC Approach Using Control Barrier Functions Ji Yin Charles Dawson Chuchu Fan Panagiotis Tsiotras 134 17 0 23 Feb 2023
Walking in Narrow Spaces: Safety-critical Locomotion Control for Quadrupedal Robots with Duality-based Optimization Qiayuan Liao Zhongyu Li A. Thirugnanam Jun Zeng Koushil Sreenath 109 19 0 29 Dec 2022
Safety-Critical Ergodic Exploration in Cluttered Environments via Control Barrier Functions Cameron J. Lerch Ethan Dong Ian Abraham 85 14 0 08 Nov 2022
Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions Shuo Liu Jun Zeng Koushil Sreenath C. Belta 156 21 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 117 73 0 18 Sep 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 62 16 0 11 May 2022
Autonomous Racing with Multiple Vehicles using a Parallelized Optimization with Safety Guarantee using Control Barrier Functions Suiyi He Jun Zeng Koushil Sreenath 63 26 0 13 Dec 2021
Safety-Critical Control and Planning for Obstacle Avoidance between Polytopes with Control Barrier Functions A. Thirugnanam Jun Zeng Koushil Sreenath 141 67 0 25 Sep 2021
Duality-based Convex Optimization for Real-time Obstacle Avoidance between Polytopes with Control Barrier Functions A. Thirugnanam Jun Zeng Koushil Sreenath 60 27 0 18 Jul 2021