Dynamic Control Barrier Function-based Model Predictive Control to Safety-Critical Obstacle-Avoidance of Mobile Robot

18 September 2022

Bin Liang

Papers citing "Dynamic Control Barrier Function-based Model Predictive Control to Safety-Critical Obstacle-Avoidance of Mobile Robot"

30 / 30 papers shown

Title
NMPCB: A Lightweight and Safety-Critical Motion Control Framework Longze Zheng Qinghe Liu 15 0 0 03 May 2025
Efficient COLREGs-Compliant Collision Avoidance using Turning Circle-based Control Barrier Function Changyu Lee Jinwook Park Jinwhan Kim 29 0 0 27 Apr 2025
Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions Nazar Misyats Marvin Harms Morten Nissov Martin Jacquet Kostas Alexis 34 0 0 22 Apr 2025
Turning Circle-based Control Barrier Function for Efficient Collision Avoidance of Nonholonomic Vehicles Changyu Lee Kiyong Park Jinwhan Kim 69 1 0 26 Mar 2025
Occlusion-Aware Consistent Model Predictive Control for Robot Navigation in Occluded Obstacle-Dense Environments Minzhe Zheng Lei Zheng Lei Zhu Jun Ma 54 0 0 06 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 43 0 0 06 Mar 2025
Learning-Based Control Barrier Function with Provably Safe Guarantees: Reducing Conservatism with Heading-Aware Safety Margin Jianye Xu Bassam Alrifaee 24 3 0 13 Nov 2024
SPF-EMPC Planner: A real-time multi-robot trajectory planner for complex environments with uncertainties Peng Liu Pengming Zhu Zhiwen Zeng Xuekai Qiu Yu-xi Wang Huimin Lu 13 2 0 17 Oct 2024
Intent Prediction-Driven Model Predictive Control for UAV Planning and Navigation in Dynamic Environments Zhefan Xu Hanyu Jin Xinming Han Haoyu Shen Kenji Shimada 33 2 0 24 Sep 2024
A Generalized Control Revision Method for Autonomous Driving Safety Zehang Zhu Yuning Wang Tianqi Ke Zeyu Han Shaobing Xu Qing Xu John M. Dolan Jianqiang Wang 26 0 0 23 Sep 2024
A Fairness-Oriented Control Framework for Safety-Critical Multi-Robot Systems: Alternative Authority Control Lei Shi Qichao Liu Cheng Zhou Xiong Li 19 0 0 16 Sep 2024
Neural Control Barrier Functions for Safe Navigation Marvin Harms M. Kulkarni Nikhil Khedekar Martin Jacquet Kostas Alexis 33 7 0 29 Jul 2024
Robust Dynamic Control Barrier Function Based Trajectory Planning for Mobile Manipulator Lihao Xu Xiaogang Xiong Bai Yang Yunjiang Lou 18 0 0 22 Jun 2024
Socially-Aware Shared Control Navigation for Assistive Mobile Robots in the Built Environment Yifan Xu Qianwei Wang V. Kamat Carol Menassa 24 1 0 27 May 2024
SOMTP: Self-Supervised Learning-Based Optimizer for MPC-Based Safe Trajectory Planning Problems in Robotics Yifan Liu You Wang Guang Li 21 0 0 15 May 2024
Closing the Perception-Action Loop for Semantically Safe Navigation in Semi-Static Environments Jingxing Qian Siqi Zhou Nicholas Jianrui Ren Veronica Chatrath Angela P. Schoellig 16 0 0 22 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 16 1 0 09 Apr 2024
Safety-Critical Planning and Control for Dynamic Obstacle Avoidance Using Control Barrier Functions Shuo Liu Yihui Mao Calin A. Belta 21 8 0 28 Mar 2024
Sailing Through Point Clouds: Safe Navigation Using Point Cloud Based Control Barrier Functions Bolun Dai Rooholla Khorrambakht P. Krishnamurthy Farshad Khorrami 3DPC 19 4 0 27 Mar 2024
PE-Planner: A Performance-Enhanced Quadrotor Motion Planner for Autonomous Flight in Complex and Dynamic Environments Jiaxin Qiu Qingchen Liu Jiahu Qin Dewang Cheng Yawei Tian Qichao Ma 18 2 0 19 Mar 2024
Integrating Predictive Motion Uncertainties with Distributionally Robust Risk-Aware Control for Safe Robot Navigation in Crowds Kanghyun Ryu Negar Mehr 44 8 0 08 Mar 2024
Fault Tolerant Neural Control Barrier Functions for Robotic Systems under Sensor Faults and Attacks Hongchao Zhang Luyao Niu Andrew Clark Radha Poovendran AAML 26 2 0 28 Feb 2024
Online Efficient Safety-Critical Control for Mobile Robots in Unknown Dynamic Multi-Obstacle Environments Yu Zhang Guangyao Tian Long Wen Xiangtong Yao Liding Zhang Zhenshan Bing Wei He Alois C. Knoll 27 2 0 26 Feb 2024
Whole-body Dynamic Collision Avoidance with Time-varying Control Barrier Functions Jihao Huang Xuemin Chi Zhitao Liu Hongye Su 30 0 0 30 Nov 2023
Differentiable Optimization Based Time-Varying Control Barrier Functions for Dynamic Obstacle Avoidance Bolun Dai Rooholla Khorrambakht M. Ciocarlie Farshad Khorrami 17 3 0 29 Sep 2023
Obstacle Avoidance for Unicycle-Modelled Mobile Robots with Time-varying Control Barrier Functions Jihao Huang Zhitao Liu Jun Zeng Xuemin Chi Hongye Su 11 8 0 17 Jul 2023
Path Generation for Wheeled Robots Autonomous Navigation on Vegetated Terrain Zhu Jian Ze-Hui Liu Haoyu Shao Xueqian Wang Xinlei Chen Bin Liang 12 17 0 15 Jun 2023
Online Whole-body Motion Planning for Quadrotor using Multi-resolution Search Yunfan Ren Siqi Liang Fangcheng Zhu Guozheng Lu Fu Zhang 23 18 0 14 Sep 2022
Comparative Analysis of Control Barrier Functions and Artificial Potential Fields for Obstacle Avoidance Andrew W. Singletary Karl Klingebiel Joseph R. Bourne Andrew W. Browning P. Tokumaru Aaron D. Ames 109 114 0 19 Oct 2020
Leveraging Stereo-Camera Data for Real-Time Dynamic Obstacle Detection and Tracking Thomas Eppenberger Gianluca Cesari Marcin Dymczyk Roland Siegwart Renaud Dubé 88 43 0 21 Jul 2020