Essays about: "Control barrier functions"

Showing result 1 - 5 of 22 essays containing the words Control barrier functions.

1. 1. Multi-Robot Motion Planning Under High-Level Task Specifications

   University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)

   Author : Axel Abrahamsson; Lukas Granqvist; [2023]
   Keywords : ;

   Abstract : This bachelor thesis explores the use of Signal Temporal Logic (STL) and ControlBarrier Functions (CBFs) to address the challenges associated with multi-robot motionplanning under high-level task specifications. STL is a formalism used to specify temporalproperties of signals, while CBFs are used to enforce safety constraints. READ MORE

3. 2. Safety-Critical Teleoperation with Time-Varying Delays : MPC-CBF-based approaches for obstacle avoidance

   University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)

   Author : Riccardo Periotto; [2023]
   Keywords : Robust Control Barrier Functions RCBFs ; Model Predictive Control MPC ; Obstacle Avoidance; Time-Varying Delays; Teleoperation; Robust Control Barrier Functions RCBFs ; Model Predictive Control MPC ; Obstacle Avoidance; Time-Varying Delays; Teleoperation;

   Abstract : The thesis focuses on the design of a control strategy for safety-critical remote teleoperation. The main goal is to make the controlled system track the desired velocity specified by a human operator while avoiding obstacles despite communication delays. READ MORE

4. 3. On the Equivalence of Time-Varying CBF-Based Control and Prescribed Performance Control : Conversion and Qualitative Comparison

   University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)

   Author : Ryo Namerikawa; [2023]
   Keywords : Control Barrier Function; Invariance control; Nonlinear control; Prescribed Performance Control; Safety-critical system; Icke-linjär reglering; invariansreglering; säkerhetskritiska system; prestandasäkring;

   Abstract : These days, a wide range of autonomous systems, such as automobiles, delivery drones, and embedded household systems, are becoming more and more common in our society. This trend is projected to continue in the future. To effectively manage these dynamic systems, ensuring their safe operation is crucial for the well-being of our lives. READ MORE

5. 4. Improving Behavior Trees that Use Reinforcement Learning with Control Barrier Functions : Modular, Learned, and Converging Control through Constraining a Learning Agent to Uphold Previously Achieved Sub Goals

   University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)

   Author : Jannik Wagner; [2023]
   Keywords : Behavior Trees; Reinforcement Learning; Control Barrier Functions; Robotics; Artificial Intelligence; Verhaltensbäume; Verstärkendes Lernen; Kontrollbarrierefunktionen; Robotik; Künstliche Intelligenz; Beteendeträd; Förstärkningsinlärning; Kontrollbarriärfunktioner; Robotik; Artificiell Intelligens;

   Abstract : This thesis investigates combining learning action nodes in behavior trees with control barrier functions based on the extended active constraint conditions of the nodes and whether the approach improves the performance, in terms of training time and policy quality, compared to a purely learning-based approach. Behavior trees combine several behaviors, called action nodes, into one behavior by switching between them based on the current state. READ MORE

6. 5. Safe autonomous lane-switching controller using high-order control barrier and Lyapunov functions

   University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)

   Author : Arno Frauenfelder; [2023]
   Keywords : ;

   Abstract : With the rising interest in autonomous vehicles due to developments with electric cars and computer vision, controllers that provide safe, collision free manoeuvres are crucial for the advancement of this technology. In this thesis, a controller for autonomous vehicles for safe, collision-free lane switching on highways including adaptive cruise control is proposed. READ MORE