Safe Control using Vision-based Control Barrier Function (V-CBF)
Hossein Abdi,Golnaz Raja,Reza Ghabcheloo,Hossein Abdi,Golnaz Raja,Reza Ghabcheloo
Safe motion control in unknown environments is one of the challenging tasks in robotics, such as autonomous navigation. Control Barrier Function (CBF), as a strong math-ematical tool, has been widely used in many safety-critical systems to satisfy safety requirements. However, there are only a handful of recent studies on safety controllers with perception inputs. Common assumptions in most of the...
