An approximation-free CBF framework achieves prescribed-time reach-avoid for unknown nonlinear systems by generating a safe reference on a virtual system and confining the true system to a Virtual Confinement Zone around it.
Springer Science & Business Media
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Closed-form input-constrained spatiotemporal tubes guarantee finite-time reach-avoid-stay for unknown Euler–Lagrange systems under actuator limits via offline feasibility conditions.
A sampling-based algorithm builds feasible spatiotemporal tubes for differential-drive robots to satisfy temporal reach-avoid-stay specifications, paired with a closed-form robust controller.
citing papers explorer
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Approximation-Free Control Barrier Functions for Prescribed-Time Reach-Avoid of Unknown Systems
An approximation-free CBF framework achieves prescribed-time reach-avoid for unknown nonlinear systems by generating a safe reference on a virtual system and confining the true system to a Virtual Confinement Zone around it.
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Input-Constrained Spatiotemporal Tubes for Safe Navigation of Unknown Euler-Lagrange Systems in Dynamic Environments
Closed-form input-constrained spatiotemporal tubes guarantee finite-time reach-avoid-stay for unknown Euler–Lagrange systems under actuator limits via offline feasibility conditions.
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Temporal Reach-Avoid-Stay Control for Differential Drive Systems via Spatiotemporal Tubes
A sampling-based algorithm builds feasible spatiotemporal tubes for differential-drive robots to satisfy temporal reach-avoid-stay specifications, paired with a closed-form robust controller.