Safety Barrier Certificates for Collisions-Free Multirobot Systems

No abstract is available for this paper.

• Publication year

  2017

• Venue

  IEEE Transactions on robotics

• Publication date

  2017-02-15

• Fields of study

  Computer Science, Engineering

• Identifiers
  DOI 10.1109/TRO.2017.2659727
• External record

  Open on Semantic Scholar

• Source metadata

  Semantic Scholar

• No claims are published for this paper.

• No concepts are published for this paper.

• Exponential Control Barrier Functions for enforcing high relative-degree safety-critical constraints

  2016cited by this paper
• Safety barrier certificates for heterogeneous multi-robot systems

  2016cited by this paper
• Stabilization with guaranteed safety using Control Lyapunov-Barrier Function

  2016cited by this paper
• Robustness of Control Barrier Functions for Safety Critical Control

  2016influential reference
• Correctness Guarantees for the Composition of Lane Keeping and Adaptive Cruise Control

  2016cited by this paper
• Multi-objective compositions for collision-free connectivity maintenance in teams of mobile robots

  2016cited by this paper
• Control Barrier Certificates for Safe Swarm Behavior

  2015cited by this paper
• Control barrier function based quadratic programs with application to adaptive cruise control

  2014cited by this paper
• Converse barrier certificate theorem

  2013cited by this paper
• Sufficient conditions for the Lipschitz continuity of QP-based multi-objective control of humanoid robots

  2013cited by this paper
• Mixed-integer quadratic program trajectory generation for heterogeneous quadrotor teams

  2012cited by this paper
• Conflict Resolution in Free-Ranging Multivehicle Systems: A Resource Allocation Paradigm

  2011cited by this paper
• Reciprocal collision avoidance with acceleration-velocity obstacles

  2011cited by this paper
• Fuzzy logic based decision making system for collision avoidance of ocean navigation under critical collision conditions

  2011cited by this paper
• Graph Theoretic Methods in Multiagent Networks

  2010cited by this paper
• Distributed Consensus in Multi-vehicle Cooperative Control: Theory and Applications (Ren, W. and Beard, R.W.; 2008) [Book Shelf]

  2010cited by this paper
• Optimal Reciprocal Collision Avoidance for Multiple Non-Holonomic Robots

  2010cited by this paper
• Distributed Control of Robotic Networks: A Mathematical Approach to Motion Coordination Algorithms

  2009cited by this paper
• Reciprocal Velocity Obstacles for real-time multi-agent navigation

  2008cited by this paper
• A Framework for Worst-Case and Stochastic Safety Verification Using Barrier Certificates

  2007cited by this paper
• Convex Programs for Temporal Verification of Nonlinear Dynamical Systems

  2007cited by this paper
• A convergent dynamic window approach to obstacle avoidance

  2005cited by this paper
• A decentralized approach to formation maneuvers

  2003cited by this paper
• Coverage control for mobile sensing networks

  2002cited by this paper
• Collaborative multi-robot exploration

  2000cited by this paper
• "Small-World" Networks of Mobile Robots

  2000cited by this paper
• Book reviews

  1999cited by this paper
• A Cooperative Hunting Behavior by Mobile-Robot Troops

  1999cited by this paper
• Conflict resolution for air traffic management: a study in multiagent hybrid systems

  1998cited by this paper
• Two-lane traffic rules for cellular automata: A systematic approach

  1997cited by this paper
• The dynamic window approach to collision avoidance

  1997cited by this paper

• Convex Model Predictive Control for Safe Output Consensus of Nonlinear Multi-Agent Systems

  2026cites this paper
• Collision/Obstacle Avoidance Cooperative Tracking Control for MASs With Network Constraints

  2026cites this paper
• A Hierarchical Nested Constraint Scheme for Finite-Time Formation Tracking Control of Disturbed Second-Order Multiagent Systems

  2026cites this paper
• Prescribed -time collision-free formation tracking control for multiple USVs using control barrier functions

  2026cites this paper
• Distributed Control Barrier Functions for Safe Multi-Vehicle Navigation in Heterogeneous USV Fleets

  2026cites this paper
• Local practically safe extremum seeking with assignable rate of attractivity to the safe set

  2026cites this paper
• End-to-end automatic berthing of USVs in realistic port geometries via adaptive PPO-CBF

  2026cites this paper
• A Dynamic Obstacle Avoidance algorithm for unmanned aerial vehicles based on Predictive Velocity Obstacles

  2026cites this paper
• Distributed safety-critical control of nonlinear multi-agent systems

  2026cites this paper
• PROTEA: Securing Robot Task Planning and Execution

  2026cites this paper
• Safety-Critical Disturbance Rejection Control for Capsizing Prevention of an Unmanned Sailboat

  2026cites this paper
• Knee-Inspired Hinge Absorbs Longitudinal Impacts to Enhance Robot-Environment Interaction Safety

  2026cites this paper
• Allocating Corrective Control to Mitigate Multi-agent Safety Violations Under Private Preferences

  2026cites this paper
• CBF-based safety design for adaptive control of uncertain nonlinear strict-feedback systems

  2026cites this paper
• Decentralized Q-Learning for Multi-UAV Post-Disaster Communication: A Robotarium-Based Evaluation Across Urban Environments

  2026cites this paper
• Image-Based Visual Servoing for Quadrotor Formation Encirclement and Tracking of Unknown Targets

  2026cites this paper
• Multi-Robot Nonlinear Model Predictive Control for Persistent Monitoring

  2026cites this paper
• Decentralized formation control, collision avoidance and global connectivity maintenance using non-smooth barrier functions

  2026cites this paper
• Asynchronous resilient collision-free formation control for nonlinear MASs under DoS attacks

  2026cites this paper
• Safety-Critical Path Planning for Obstacle Avoidance Based on Reinforcement Learning and Control Barrier Functions

  2025cites this paper
• STL-based multi-agent motion planning for multiple tasks with complex logic

  2025cites this paper
• Distributed Connectivity Maintenance and Recovery for Quadrotor Motion Planning

  2025cites this paper
• Distributed Safety-Critical MPC for Multi-Agent Formation Control and Obstacle Avoidance

  2025influential citation
• Compatibility of Multiple Control Barrier Functions for Constrained Nonlinear Systems

  2025cites this paper
• Collaborative-Online-Learning-Enabled Distributionally Robust Motion Control for Multi-Robot Systems

  2025cites this paper
• How Do Robot Swarms Behave Compliantly?

  2025cites this paper
• Safe Formation Control of Uncertain Multiagent Systems From a Bayesian Perspective

  2025cites this paper
• Collaborative Safety-Critical Control in Coupled Networked Systems

  2025cites this paper
• Semiglobal Safety-Filtered Extremum Seeking With Unknown CBFs

  2025cites this paper
• Conflict-Based Search as a Protocol: A Multi-Agent Motion Planning Protocol for Heterogeneous Agents, Solvers, and Independent Tasks

  2025cites this paper
• Integrating Opinion Dynamics into Safety Control for Decentralized Airplane Encounter Resolution

  2025influential citation
• Deadlock-Aware Control for Multirobot Coordination With Multiple Safety Constraints

  2025cites this paper
• Path-constrained optimal 6-DOF motion for multi-agent in-space servicing and assembly

  2025cites this paper
• Safety-Critical Formation Tracking Control of Multi-Robot Systems via CLF-CBF-QP

  2025cites this paper
• A Survey on Collision Avoidance Algorithms for Multi-robot Systems

  2025cites this paper
• Stability With Safety Analysis for Switched Systems via Multiple Lyapunov and Barrier Functions

  2025cites this paper
• Hierarchical Deep Reinforcement Learning-Based Path Planning with Underlying High-Order Control Lyapunov Function—Control Barrier Function—Quadratic Programming Collision Avoidance Path Tracking Control of Lane-Changing Maneuvers for Autonomous Vehicles

  2025cites this paper
• Can control barrier functions keep automated vehicles safe in live freeway traffic?

  2025cites this paper
• Resilient Collision-Free Distributed Optimal Coordination for Multiple Euler–Lagrangian Systems Under Unreliable Communication Topologies

  2025influential citation
• Learning-Based Fault-Tolerant Control With High-Order Control Barrier Functions

  2025cites this paper
• Pigeon-Inspired UAV Swarm Control and Planning Within a Virtual Tube

  2025cites this paper
• Online Synthesis of Control Barrier Functions with Local Occupancy Grid Maps for Safe Navigation in Unknown Environments

  2025cites this paper
• Adaptive Fuzzy Secure Collision-Free Formation Control for Nonlinear MASs With DoS Attacks

  2025cites this paper
• Resilient Collision-Avoidance Distributed Optimal Coordination Strategy for Euler–Lagrangian Systems Subjected to Asynchronous DoS Attacks

  2025cites this paper
• Distributed finite-time safety-critical consensus control for multi-agent systems and its application to microgrids

  2025cites this paper
• Sequential Coverage Control for Multi‐Agent Systems in Corridor‐Type Regions

  2025cites this paper
• Multi-robot cooperative herding through backstepping control barrier functions

  2025cites this paper
• LF: Online Multi-Robot Path Planning Meets Optimal Trajectory Control

  2025cites this paper
• Multi-Robot Navigation in Social Mini-Games: Definitions, Taxonomy, and Algorithms

  2025influential citation
• Hybrid Feedback for Three-dimensional Convex Obstacle Avoidance

  2025cites this paper
• Intermittent Event-Triggered Control for Multi-AUV System with Obstacle Avoidance

  2025cites this paper
• Obstacle Avoidance Control for Multiagent Systems Based on Model-Free Adaptive Control

  2025cites this paper
• Collision-Free Platooning Control for Automated Vehicles Under Improved Constant-Time-Headway Strategies and Watermarking

  2025cites this paper
• “Hierarchy of Needs” for Robots: Control Synthesis for Compositions of Hierarchical, Complex Objectives

  2025cites this paper
• Distributed cooperative pursuit with encirclement guarantee via robust model predictive control

  2025cites this paper
• Experimental Validation of Decentralized Affine Transformation

  2025cites this paper
• Verification and Synthesis of Discrete-Time Control Barrier Functions

  2025cites this paper
• Event-Triggered and Intermittent Emulation of Safety-Critical Controllers for Nonlinear Systems

  2025cites this paper
• Distributed Formation Control for Car-Like Robots Navigating in Complex Environments

  2025cites this paper
• Caputo Barrier Functions and Their Applications to the Safety, Safety-and-Stability, and Input-to-State Safety of a Class of Fractional-Order Systems

  2025cites this paper
• SafeFlowMatcher: Safe and Fast Planning using Flow Matching with Control Barrier Functions

  2025cites this paper
• Teleoperator-Aware and Safety-Critical Adaptive Nonlinear MPC for Shared Autonomy in Obstacle Avoidance of Legged Robots

  2025cites this paper
• Safety Aware Task Planning via Large Language Models in Robotics

  2025cites this paper
• Controlling Complex Systems

  2025cites this paper
• Safe Multi-Robotic Arm Interaction via 3D Convex Shapes

  2025influential citation
• Adaptive Deadlock Avoidance for Decentralized Multi-Agent Systems via CBF-Inspired Risk Measurement

  2025cites this paper
• LIVEPOINT: Fully Decentralized, Safe, Deadlock-Free Multi-Robot Control in Cluttered Environments with High-Dimensional Inputs

  2025cites this paper
• Control barrier function based terrain and path following control of unmanned aerial vehicle considering attitude constraint

  2025cites this paper
• Trajectory Tracking Using Sliding Mode Control with Obstacle Avoidance for a Ground Robot

  2025cites this paper
• Collision/Obstacle Avoidance Coordination of Multi-Robot Systems: A Survey

  2025cites this paper
• Safe Distributed Learning-Enhanced Predictive Control for Multiple Quadrupedal Robots

  2025cites this paper
• Merry-Go-Round: Safe Control of Decentralized Multi-Robot Systems with Deadlock Prevention

  2025cites this paper
• Input-to-state robust safety of switched nonlinear systems using multiple barrier functions

  2025cites this paper
• GameChat: Multi-LLM Dialogue for Safe, Agile, and Socially Optimal Multi-Agent Navigation in Constrained Environments

  2025cites this paper
• Safety-Critical and Distributed Nonlinear Predictive Controllers for Teams of Quadrupedal Robots

  2025cites this paper
• Distributed Safety-Critical Optimal Flocking Control Algorithm With Feasibility Enhancement of High-Order Control Barrier Function

  2025influential citation
• Extending First-order Robotic Motion Planners to Second-order Robot Dynamics

  2025cites this paper
• Hybrid Control Barrier Functions for Nonholonomic Multi-Agent Systems

  2025cites this paper
• Risk‐Aware Control: Integrating Worst‐Case Conditional Value‐At‐Risk With Control Barrier Function

  2025cites this paper
• Distributed observer-based formation control and obstacle avoidance of nonholonomic mobile robots with input saturation

  2025cites this paper
• Collision avoidance control of multiple UAVs using collision cones and control barrier functions

  2025cites this paper
• Obstacle Avoidance and Safe Coverage of Moving Domains for Multiagent Systems via Adaptive Control Barrier Function

  2025cites this paper
• Multi-Constraint Safe Reinforcement Learning via Closed-form Solution for Log-Sum-Exp Approximation of Control Barrier Functions

  2025cites this paper
• Resolving Conflicting Constraints in Multi-Agent Reinforcement Learning with Layered Safety

  2025cites this paper
• Versatile Distributed Maneuvering With Generalized Formations Using Guiding Vector Fields

  2025cites this paper
• JaxRobotarium: Training and Deploying Multi-Robot Policies in 10 Minutes

  2025cites this paper
• Guaranteeing Full-State Performance With Individual Specifications for Strict-Feedback Multiagent Systems: A Uniform Mapping Method

  2025cites this paper
• Collision-Free Connectivity Topology Switching and Maintenance for Autonomous Underwater Vehicles

  2025influential citation
• Deep Equivariant Multi-Agent Control Barrier Functions

  2025cites this paper
• Collision/obstacle avoidance distributed cooperative output regulation of multi-robot systems

  2025cites this paper
• Passivity preserving energy-aware design for multi-dimensional switched systems: Application to open multi-robot systems

  2025cites this paper
• Collisions-Free Distributed Cooperative Tracking Control for Nonlinear MASs With Limited Data Rate

  2025cites this paper
• Continuous safety-critical control of Euler-Lagrange systems subject to multiple obstacles and velocity constraints

  2025cites this paper
• Learning Distributed Safe Multi-Agent Navigation via Infinite-Horizon Optimal Graph Control

  2025influential citation
• Safe Control Framework of Multi-Agent Systems From a Performance Enhancement Perspective

  2025influential citation
• Multi-UAV Cooperative Motion Planning Under Global Spatio-Temporal Path Inspiration in Constraint-Rich Dynamic Environments

  2025cites this paper
• Cooperative Target Enclosing Control for Multiple Unmanned Surface Vehicles With Unknown Dynamics and Safety Assurance

  2025influential citation
• Safety-Critical Generalized Predictive Control for Speed Regulation of PMSM Drives Based on Dynamic Robust Control Barrier Function

  2025cites this paper
• Safety-critical cooperative path following of uncertain nonlinear systems via unifying control Lyapunov and control barrier functions

  2025cites this paper
• Distributed Online Task Assignment via Inexact ADMM for unplanned online tasks and its Applications to Security

  2025cites this paper