Point Cloud-Based Control Barrier Function Regression for Safe and Efficient Vision-Based Control
Massimiliano De Sa,Prasanth Kotaru,Koushil Sreenath,Massimiliano De Sa,Prasanth Kotaru,Koushil Sreenath
Control barrier functions have become an increasingly popular framework for safe real-time control. In this work, we present a computationally low-cost framework for synthesizing barrier functions over point cloud data for safe vision-based control. We take advantage of surface geometry to locally define and synthesize a quadratic CBF over a point cloud. This CBF is used in a CBF-QP for control an...
