Navigating Polytopes with Safety: A Control Barrier Function Approach

22 May 2025

Papers citing "Navigating Polytopes with Safety: A Control Barrier Function Approach"

16 / 16 papers shown

Title
SAFER-Splat: A Control Barrier Function for Safe Navigation with Online Gaussian Splatting Maps Timothy Chen Aiden Swann Javier Yu O. Shorinwa Riku Murai Monroe Kennedy III Mac Schwager 3DGS 85 5 0 15 Sep 2024
Neural Control Barrier Functions for Safe Navigation Marvin Harms Mihir Kulkarni Nikhil Khedekar Martin Jacquet Kostas Alexis 102 9 0 29 Jul 2024
Constructive Safety-Critical Control: Synthesizing Control Barrier Functions for Partially Feedback Linearizable Systems Max H. Cohen Ryan K. Cosner Aaron D. Ames 91 8 0 04 Jun 2024
Sailing Through Point Clouds: Safe Navigation Using Point Cloud Based Control Barrier Functions Bolun Dai Rooholla Khorrambakht Prashanth Krishnamurthy Farshad Khorrami 3DPC 78 6 0 27 Mar 2024
Safety-Critical Control for Autonomous Systems: Control Barrier Functions via Reduced-Order Models Max H. Cohen Tamás G. Molnár Aaron D. Ames 114 35 0 14 Mar 2024
Polygonal Cone Control Barrier Functions (PolyC2BF) for safe navigation in cluttered environments Manan Tayal Shishir Kolathaya 91 4 0 15 Nov 2023
Safe Stabilizing Control for Polygonal Robots in Dynamic Elliptical Environments Kehan Long Khoa Tran Melvin Leok Nikolay Atanasov 69 2 0 30 Sep 2023
Characterizing Smooth Safety Filters via the Implicit Function Theorem Max H. Cohen Pio Ong Gilbert Bahati Aaron D. Ames 80 19 0 22 Sep 2023
Composing Control Barrier Functions for Complex Safety Specifications Tamás G. Molnár Aaron D. Ames 39 31 0 13 Sep 2023
Safety-Critical Manipulation for Collision-Free Food Preparation Andrew W. Singletary W. Guffey Tamás G. Molnár Ryan W. Sinnet Aaron D. Ames 71 51 0 02 May 2022
Safety-Critical Control and Planning for Obstacle Avoidance between Polytopes with Control Barrier Functions A. Thirugnanam Jun Zeng Koushil Sreenath 138 67 0 25 Sep 2021
Model-Free Safety-Critical Control for Robotic Systems Tamás G. Molnár Ryan K. Cosner Andrew W. Singletary Wyatt Ubellacker Aaron D. Ames 67 89 0 19 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
Safety Embedded Differential Dynamic Programming Using Discrete Barrier States Hassan Almubarak Kyle Stachowicz N. Sadegh Evangelos A. Theodorou 134 32 0 30 May 2021
Learning Barrier Functions with Memory for Robust Safe Navigation Kehan Long Cheng Qian Jorge Cortés Nikolay Atanasov 104 57 0 03 Nov 2020
Synthesis of Control Barrier Functions Using a Supervised Machine Learning Approach Mohit Srinivasan A. Dabholkar Samuel Coogan Patricio Vela 106 128 0 10 Mar 2020