In this chapter, we consider three applications of the use of CBFsControl barrier function and HOCBFs to problems that involveSafety safety-critical tasks commonly encountered in robotics. In Sect. 10.1, we look at typical ground robotRobot tasks, in which obstacle avoidanceObstacleavoidance is crucial. In Sect. 10.2, we consider autonomous drivingAutonomous driving, where a vehicle is required to satisfy complex specificationsSpecification imposed by traffic laws and expectations regarding reasonable driving behavior. Finally, in Sect. 10.3, we consider safe navigation tasks for an aerial vehicle.
Applications to Robotics
synth. Lectures on Computer sci.
2023-05-10
30 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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