Modern autonomous systems, such as flying, legged, and wheeled robots, are generally
characterized by high-dimensional nonlinear dynamics, which presents challenges for …

This letter presents a framework for the safety-critical control of robotic systems, when safety
is defined on safe regions in the configuration space. To maintain safety, we synthesize a …

This article aims at presenting an introductory overview of the theoretical framework of
control barrier functions (CBFs) and of their application to the design of safety-related …

Unmanned Aerial Vehicles (UAVs) are nowadays used in a variety of applications. Given the
cyber-physical nature of UAVs, software defects in these systems can cause issues with …

Recent advances allow for the automation of food preparation in high-throughput
environments, yet the successful deployment of these robots requires the planning and …

This article addresses cooperative target enclosing of underactuated autonomous surface
vehicles (ASVs) subject to obstacles. Each ASV suffers from input constraints in addition to …

Control barrier functions (CBFs) have been widely applied to safety-critical robotic
applications. However, the construction of control barrier functions for robotic systems …

This paper presents a methodology for ensuring that the composition of multiple Control
Barrier Functions (CBFs) always leads to feasible conditions on the control input, even in the …

When the equipment is working, it is very important to avoid the occurrence of malignant
accidents by providing a highly reliable safety protection means. In this paper, for multiplayer …

Task-space quadratic programming (QP) is an elegant approach for controlling robots
subject to constraints. Yet, in the case of kinematic-controlled (ie, high-gain position or …