This paper provides an introduction and overview of recent work on control barrier functions
and their use to verify and enforce safety properties in the context of (optimization based) …

A multi-agent robot system (MARS) is one of the most important topics nowadays. The basic
task of this system is based on distributive and cooperative work among agents (robots). It …

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

We approach the problem of stabilizing a dynamical system while optimizing a cost and
satisfying safety constraints and control limitations. For (nonlinear) affine control systems …

The need for computationally-efficient control methods of dynamical systems under temporal
logic tasks has recently become more apparent. Existing methods are computationally …

This paper extends control barrier functions (CBFs) to high order control barrier functions
(HOCBFs) that can be used for high relative degree constraints. The proposed HOCBFs are …

We consider the problem of designing distributed collision-avoidance multi-agent control in
large-scale environments with potentially moving obstacles, where a large number of agents …

A comprehensive introduction to hybrid control systems and design Hybrid control systems
exhibit both discrete changes, or jumps, and continuous changes, or flow. An example of a …

We study the multi-agent safe control problem where agents should avoid collisions to static
obstacles and collisions with each other while reaching their goals. Our core idea is to learn …

Artificial potential fields (APFs) and their variants have been a staple for collision avoidance
of mobile robots and manipulators for almost 40 years. Its model-independent nature, ease …