TL;DR
This paper introduces a control barrier function method for ensuring collision-free navigation of polytope-shaped agents in complex environments, providing formal safety guarantees demonstrated through simulations in 2D and 3D.
Contribution
It presents a systematic, closed-form approach to generate control barrier functions for safe navigation of polytope-shaped agents, extending safety guarantees to dynamic environments.
Findings
Successful collision avoidance in 2D and 3D simulations.
Formal safety guarantees for the proposed control approach.
Effective handling of dynamically changing environments.
Abstract
Collision-free motion is a fundamental requirement for many autonomous systems. This paper develops a safety-critical control approach for the collision-free navigation of polytope-shaped agents in polytope-shaped environments. A systematic method is proposed to generate control barrier function candidates in closed form that lead to controllers with formal safety guarantees. The proposed approach is demonstrated through simulation, with obstacle avoidance examples in 2D and 3D, including dynamically changing environments.
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