Collision Cone Control Barrier Functions (C3BF)

Collision Cone Control Barrier Functions (C3BF)

Introduction

This work presents a unified approach for collision avoidance using Collision-Cone Control Barrier Functions (CBFs) in both ground (UGV) and aerial (UAV) unmanned vehicles. We propose a novel CBF formulation inspired by collision cones, commonly used in trajectory planning, to ensure safety by constraining the relative velocity between the vehicle and the obstacle to always point away from each other. The efficacy of this approach is demonstrated through simulations and hardware implementations on the Turtlebot, Stoch-Jeep (Ackermann), and Crazyflie 2.1 quadrotor robot, showcasing its effectiveness in avoiding collisions with dynamic obstacles in both ground and aerial settings. The real-time controller is developed using CBF Quadratic Programs (QPs) formulation. Comparative analysis with existing CBF-QPs, particularly Higher-Order CBF (HOCBF), highlights the less conservative nature of the proposed approach. Overall, this research contributes to a novel control formation that can give a guarantee for collision avoidance in unmanned vehicles by modifying the control inputs from existing path-planning controllers, enhancing the vehicle’s maneuverability and safety in dynamic environments.

Simulation Results

Obstacle avoidance on UGVs (Unicycle & Bicycle Models)

Obstacle avoidance on UAV (Quadrotor Model)

Hardware Experiments

Obstacle avoidance on Turlebot (Unicycle Model)

Obstacle avoidance on Stoch-Jeep (Bicycle Model)

Obstacle avoidance on Crazyflie 2.1 (Quadrotor Model)</h3>


Citation

        @article{tayal2024collisionconeapproachcontrol,
              title={A Collision Cone Approach for Control Barrier Functions}, 
              author={Manan Tayal and Bhavya Giri Goswami and Karthik Rajgopal and Rajpal Singh and Tejas Rao and Jishnu Keshavan and Pushpak Jagtap and Shishir Kolathaya},
              year={2024},
              eprint={2403.07043},
              archivePrefix={arXiv},
              primaryClass={cs.RO},
              url={https://arxiv.org/abs/2403.07043}, 
        }
        
        @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}
        }
        @misc{goswami2023collision,
              title={Collision Cone Control Barrier Functions: Experimental Validation on UGVs for Kinematic Obstacle Avoidance}, 
              author={Bhavya Giri Goswami and Manan Tayal and Karthik Rajgopal and Pushpak Jagtap and Shishir Kolathaya},
              year={2023},
              eprint={2310.10839},
              archivePrefix={arXiv},
              primaryClass={cs.RO}
        }
        


Related Papers

2023
September
PDF Safe Legged Locomotion using Collision Cone Control Barrier Functions (C3BFs)
Manan Tayal, and Shishir Kolathaya
Arxiv
2023
December
PDF Collision Cone Control Barrier Functions for Kinematic Obstacle Avoidance in UGVs
Phani Thontepu*, Bhavya Giri Goswami*, Manan Tayal, Neelaksh Singh, Shyam Sundar P I, Shyam Sundar M G, Suresh Sundaram, Vaibhav Katewa, and Shishir Kolathaya
Indian Control Conference (ICC) 2023, Vishakhapatnam, India
2024
June
PDF Polygonal Cone Control Barrier Functions (PolyC2BF) for safe navigation in cluttered environments
Manan Tayal, and Shishir Kolathaya
European Control Conference (ECC) 2024, Stockholm, Sweden
2024
July
PDF Control Barrier Functions in Dynamic UAVs for Kinematic Obstacle Avoidance: A Collision Cone Approach
Manan Tayal, Rajpal Singh, Jishnu Keshavan, and Shishir Kolathaya
American Control Conference (ACC) 2024, Toronto, Canada
2024
July
PDF Collision Cone Control Barrier Functions: Experimental Validation on UGVs for Kinematic Obstacle Avoidance
Bhavya Giri Goswami*, Manan Tayal*, Karthik Rajgopal, Pushpak Jagtap, and Shishir Kolathaya
American Control Conference (ACC) 2024, Toronto, Canada
2024
July
PDF Real Time Safety of Fixed-wing UAVs using Collision Cone Control Barrier Functions
Aryan Agarwal*, Ravi Agrawal*, Manan Tayal*, Pushpak Jagtap, and Shishir Kolathaya
8th Cyber Physical Symposium (CyPhySS) 2024, Bangalore, India
2024
October
PDF Semi-Supervised Safe Visuomotor Policy Synthesis using Barrier Certificates
Manan Tayal*, Aditya Singh*, Pushpak Jagtap, and Shishir Kolathaya
IROS Workshop on Formal Methods & Techniques in Robotic Systems, 2024, Abu Dhabi, UAE

People

Manan Tayal
Safe Robot Learning and Control
Pushpak Jagtap
Assistant Professor, CPS, IISc
Shishir Kolathaya
Assistant Professor, CSA & CPS, IISc
Last updated: 2024-03-28