A sliding mode controller with C3BF safety filter achieves robust trajectory tracking and moving obstacle avoidance across Ackermann, differential drive, and quadrotor platforms, validated in real experiments.
Multiagent systems with CBF-based controllers: collision avoidance and liveness from instabil- ity
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Sliding Mode Control for Safe Trajectory Tracking with Moving Obstacles Avoidance: Experimental Validation on Planar Robots
A sliding mode controller with C3BF safety filter achieves robust trajectory tracking and moving obstacle avoidance across Ackermann, differential drive, and quadrotor platforms, validated in real experiments.