A Control Barrier Function Approach for Observer-based Visually Safe Pursuit Control with Spherical Obstacles*

Fujinami, Tesshu; Yamauchi, Junya; Funada, Riku; Fujita, Masayuki

doi:10.1016/j.ifacol.2023.10.751

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Cited by 3 publications

References 11 publications

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DiffOcclusion: Differentiable Optimization Based Control Barrier Functions for Occlusion-Free Visual Servoing

Wei,

Dai,

Khorrambakht

et al. 2024

IEEE Robot. Autom. Lett.

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DiffOcclusion: Differentiable Optimization Based Control Barrier Functions for Occlusion-Free Visual Servoing

Wei,

Dai,

Khorrambakht

et al. 2024

IEEE Robot. Autom. Lett.

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Visual Safety of Robot Networks based on Control Barrier Functions with Spherical Obstacles

Yamauchi,

Maeno,

Fujinami

et al. 2023

2023 62nd Annual Conference of the Society of Instrument and Control Engineers (SICE)

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Multi-Layered Interactive Target Guidance with Visual Safety in Convex-Shaped Obstacle Environments

Kanno,

Yamauchi,

Fujita

2024

Applied Sciences

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In this paper, we consider a control architecture for a mobile robot equipped with visual sensors to pursue a target object in an environment with convex-shaped obstacles. The pursuit involves crucial occlusion avoidance and field of view maintenance, referred to as visual safety. Our goal is to achieve this safety through a multi-layered control architecture consisting of a planning layer and a safety layer. We propose functions that represent occlusion avoidance and field of view maintenance and derive conditions for these to act as control barrier functions. Utilizing these functions, we implement an optimal control at the planning layer and an optimization-based control at the safety layer. The effectiveness of this method is verified through two tasks: guiding the target object into a target location and preventing the target object from entering a target location.

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A Control Barrier Function Approach for Observer-based Visually Safe Pursuit Control with Spherical Obstacles*

Cited by 3 publications

References 11 publications

DiffOcclusion: Differentiable Optimization Based Control Barrier Functions for Occlusion-Free Visual Servoing

DiffOcclusion: Differentiable Optimization Based Control Barrier Functions for Occlusion-Free Visual Servoing

Visual Safety of Robot Networks based on Control Barrier Functions with Spherical Obstacles

Multi-Layered Interactive Target Guidance with Visual Safety in Convex-Shaped Obstacle Environments

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