Navigating Polytopes with Safety: A Control Barrier Function Approach
Author:
- 25 August 2025
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 179-184
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.Keywords
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Funding Information
- National Aeronautics and Space Administration
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