Collision Cone Control Barrier Functions (C3BF)
Introduction
In this paper, we propose a new class of Control Barrier Functions (CBFs) that helps avoid collisions with kinematic (nonzero velocity) obstacles. While the current forms of CBFs have been successful in guaranteeing safety/collision avoidance with static obstacles, extensions for the dynamic case with torque/acceleration-controlled unicycle and bicycle models have seen limited success.
Citation
@article{thontepu2022control,
title={Control Barrier Functions in UGVs for Kinematic Obstacle Avoidance: A Collision Cone Approach},
author={Thontepu, Phani and Goswami, Bhavya Giri and Singh, Neelaksh and PI, Shyamsundar and Sundaram, Suresh and Katewa, Vaibhav and others},
journal={arXiv preprint arXiv:2209.11524},
year={2022}
}
@article{tayal2023control,
title={Control Barrier Functions in Dynamic UAVs for Kinematic Obstacle Avoidance: A Collision Cone Approach},
author={Tayal, Manan and Kolathaya, Shishir},
journal={arXiv preprint arXiv:2303.15871},
year={2023}
}
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People
Manan Tayal
RBCCPS, IISc
Phani Madhusudhan Thontepu
AI, IISc
Bhavya Giri Goswami
Grad Student, University of Waterloo