CLF-CBF Based Quadratic Programs for Safe Motion Control of Nonholonomic Mobile Robots in Presence of Moving Obstacles
Author:
Affiliation:
1. Wayne State University,Department of Mechanical Engineering,Detroit,MI,USA,48202
Publisher
IEEE
Link
http://xplorestaging.ieee.org/ielx7/9863218/9863240/09863392.pdf?arnumber=9863392
Reference19 articles.
1. Safety Barrier Certificates for Collisions-Free Multirobot Systems
2. Stabilization with guaranteed safety using Control Lyapunov–Barrier Function
3. Vector-Field-Orientation Feedback Control Method for a Differentially Driven Vehicle
4. Exponential Barrier Functions for Safe Steering of Nonholonomic Vehicles With Actuator Time-Delay
5. A Unified Quadratic-Programming-Based Dynamical System Approach to Joint Torque Optimization of Physically Constrained Redundant Manipulators
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2. Control of Mobile Robots Using Control Barrier Functions in Presence of Fault;2023 9th International Conference on Control, Instrumentation and Automation (ICCIA);2023-12-20
3. CLF-CBF Constraints for Real-Time Avoidance of Multiple Obstacles in Bipedal Locomotion and Navigation;2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS);2023-10-01
4. Hierarchical Relaxation of Safety-critical Controllers: Mitigating Contradictory Safety Conditions with Application to Quadruped Robots;2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS);2023-10-01
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