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Safety-Critical Control and Planning for Obstacle Avoidance between Polytopes with Control Barrier Functions
IEEE International Conference on Robotics and Automation (ICRA), 2021
25 September 2021
A. Thirugnanam
Jun Zeng
Koushil Sreenath
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Papers citing
"Safety-Critical Control and Planning for Obstacle Avoidance between Polytopes with Control Barrier Functions"
40 / 40 papers shown
Least Restrictive Hyperplane Control Barrier Functions
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PolyFly: Polytopic Optimal Planning for Collision-Free Cable-Suspended Aerial Payload Transportation
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Giuseppe Loianno
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Safe Motion Planning and Control Using Predictive and Adaptive Barrier Methods for Autonomous Surface Vessels
Alejandro Gonzalez-Garcia
Wei Xiao
Wei Wang
Alejandro Astudillo
Wilm Decré
Jan Swevers
C. Ratti
Daniela Rus
209
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Trajectory Planning Using Safe Ellipsoidal Corridors as Projections of Orthogonal Trust Regions
Akshay Jaitly
Jon Arrizabalaga
Guanrui Li
219
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24 Sep 2025
Learning Safety for Obstacle Avoidance via Control Barrier Functions
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Zhe Huang
C. Belta
145
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19 Sep 2025
Semi-Infinite Programming for Collision-Avoidance in Optimal and Model Predictive Control
Yunfan Gao
Florian Messerer
Niels van Duijkeren
Rashmi Dabir
Moritz Diehl
157
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17 Aug 2025
Navigating Polytopes with Safety: A Control Barrier Function Approach
Conference on Control Technology and Applications (CCTA), 2025
Tamas G. Molnar
224
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22 May 2025
NMPCB: A Lightweight and Safety-Critical Motion Control Framework for Ackermann Mobile Robot
Longze Zheng
Qinghe Liu
312
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03 May 2025
An Extended Symbolic-Arithmetic Model for Teaching Double-Black Removal with Rotation in Red-Black Trees
International Journal of Mathematical Sciences and Computing (IJMSC), 2025
Kennedy E. Ehimwenma
Hongyu Zhou
Jinqiao Wang
Ze Zheng
233
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04 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
375
11
0
01 Apr 2025
Soft Actor-Critic-based Control Barrier Adaptation for Robust Autonomous Navigation in Unknown Environments
IEEE International Conference on Robotics and Automation (ICRA), 2025
Nicholas Mohammad
Nicola Bezzo
286
4
0
11 Mar 2025
Dynamic Neural Potential Field: Online Trajectory Optimization in the Presence of Moving Obstacles
A. Staroverov
Muhammad Alhaddad
Aditya Narendra
Konstantin Mironov
Aleksandr I. Panov
AI4CE
340
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09 Oct 2024
Decentralized Nonlinear Model Predictive Control for Safe Collision Avoidance in Quadrotor Teams with Limited Detection Range
IEEE International Conference on Robotics and Automation (ICRA), 2024
Manohari Goarin
Guanrui Li
Alessandro Saviolo
Giuseppe Loianno
239
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25 Sep 2024
Safe Navigation of Bipedal Robots via Koopman Operator-Based Model Predictive Control
J. Kim
Yunhai Han
Harish Ravichandar
Sehoon Ha
355
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23 Sep 2024
Learning to Refine Input Constrained Control Barrier Functions via Uncertainty-Aware Online Parameter Adaptation
IEEE International Conference on Robotics and Automation (ICRA), 2024
Taekyung Kim
Robin Inho Kee
Dimitra Panagou
464
18
0
22 Sep 2024
A Novel Optimization-Based Collision Avoidance For Autonomous On-Orbit Assembly
Siavash Tavana
Sepideh Faghihi
Anton de Ruiter
K. D. Kumar
222
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11 Apr 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
186
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09 Apr 2024
Collision-Free Trajectory Optimization in Cluttered Environments with Sums-of-Squares Programming
Yuling Li
Chunxin Zheng
Kai Chen
Yusen Xie
Xindong Tang
Michael Yu Wang
Jun Ma
366
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08 Apr 2024
Sailing Through Point Clouds: Safe Navigation Using Point Cloud Based Control Barrier Functions
Bolun Dai
Rooholla Khorrambakht
Prashanth Krishnamurthy
Farshad Khorrami
3DPC
296
11
0
27 Mar 2024
Efficient optimization-based trajectory planning
Jiayu Fan
Nikolce Murgovski
Jun Liang
283
4
0
29 Dec 2023
Feasible Space Monitoring for Multiple Control Barrier Functions with application to Large Scale Indoor Navigation
Conference on Control Technology and Applications (CCTA), 2023
Hardik Parwana
Mitchell Black
Bardh Hoxha
Hideki Okamoto
Georgios Fainekos
Danil Prokhorov
Dimitra Panagou
283
9
0
12 Dec 2023
Whole-body Dynamic Collision Avoidance with Time-varying Control Barrier Functions
Chinese Control and Decision Conference (CCDC), 2023
Jihao Huang
Xuemin Chi
Zhitao Liu
Hongye Su
259
1
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30 Nov 2023
Safe Control Synthesis for Hybrid Systems through Local Control Barrier Functions
American Control Conference (ACC), 2023
Shuo Yang
Mitchell Black
Georgios Fainekos
Bardh Hoxha
Hideki Okamoto
Rahul Mangharam
298
6
0
28 Nov 2023
Polygonal Cone Control Barrier Functions (PolyC2BF) for safe navigation in cluttered environments
European Control Conference (ECC), 2023
Manan Tayal
Shishir Kolathaya
338
11
0
15 Nov 2023
Neural Potential Field for Obstacle-Aware Local Motion Planning
IEEE International Conference on Robotics and Automation (ICRA), 2023
Muhammad Alhaddad
Konstantin Mironov
A. Staroverov
Aleksandr I. Panov
268
10
0
25 Oct 2023
Geometry-Aware Safety-Critical Local Reactive Controller for Robot Navigation in Unknown and Cluttered Environments
IEEE Robotics and Automation Letters (RA-L), 2023
Yuling Li
Xindong Tang
Kai Chen
Chunxin Zheng
Haichao Liu
Jun Ma
287
13
0
09 Oct 2023
Safe Stabilizing Control for Polygonal Robots in Dynamic Elliptical Environments
American Control Conference (ACC), 2023
Kehan Long
Khoa Tran
Melvin Leok
Nikolay Atanasov
272
5
0
30 Sep 2023
Reconfigurable Robot Control Using Flexible Coupling Mechanisms
Sha Yi
Katia Sycara
F. Z. Temel
244
6
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28 Jun 2023
Convex Geometric Motion Planning on Lie Groups via Moment Relaxation
Sangli Teng
A. Jasour
Ram Vasudevan
Maani Ghaffari
381
17
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23 May 2023
Safe Navigation and Obstacle Avoidance Using Differentiable Optimization Based Control Barrier Functions
IEEE Robotics and Automation Letters (RA-L), 2023
Bolun Dai
Rooholla Khorrambakht
Prashanth Krishnamurthy
V. Gonccalves
Anthony Tzes
Farshad Khorrami
337
51
0
17 Apr 2023
Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-robot Systems
IEEE Robotics and Automation Letters (RA-L), 2023
Jihao Huang
Jun Zeng
Xuemin Chi
Koushil Sreenath
Zhitao Liu
Hongye Su
242
24
0
17 Apr 2023
Walking in Narrow Spaces: Safety-critical Locomotion Control for Quadrupedal Robots with Duality-based Optimization
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022
Qiayuan Liao
Zhongyu Li
A. Thirugnanam
Jun Zeng
Koushil Sreenath
501
44
0
29 Dec 2022
Safety-Critical Optimal Control for Robotic Manipulators in A Cluttered Environment
Xuda Ding
Han Wang
Yi Ren
Yu Zheng
Cailian Chen
Jianping He
251
4
0
09 Nov 2022
Safety-Critical Ergodic Exploration in Cluttered Environments via Control Barrier Functions
IEEE International Conference on Robotics and Automation (ICRA), 2022
Cameron J. Lerch
Ethan Dong
Ian Abraham
332
21
0
08 Nov 2022
Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions
American Control Conference (ACC), 2022
Shuo Liu
Jun Zeng
Koushil Sreenath
C. Belta
454
42
0
09 Oct 2022
Barrier Certified Safety Learning Control: When Sum-of-Square Programming Meets Reinforcement Learning
Conference on Control Technology and Applications (CCTA), 2022
He-lu Huang
Zerui Li
Dongkun Han
269
3
0
16 Jun 2022
Refining Control Barrier Functions through Hamilton-Jacobi Reachability
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022
S. Tonkens
Sylvia Herbert
273
58
0
26 Apr 2022
Configuration-Aware Safe Control for Mobile Robotic Arm with Control Barrier Functions
Fan Ding
Han Wang
Jianping He
Yi Ren
Yu Zheng
239
4
0
18 Apr 2022
Gaussian Control Barrier Functions : A Non-Parametric Paradigm to Safety
IEEE Access (IEEE Access), 2022
Mouhyemen Khan
Tatsuya Ibuki
Abhijit Chatterjee
310
19
0
29 Mar 2022
Duality-based Convex Optimization for Real-time Obstacle Avoidance between Polytopes with Control Barrier Functions
American Control Conference (ACC), 2021
A. Thirugnanam
Jun Zeng
Koushil Sreenath
361
32
0
18 Jul 2021
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