FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W4315472242> ?p ?o ?g. }

• W4315472242 abstract "Control barrier functions (CBFs) recently introduced a systematic way to guarantee the system’s safety through set invariance. Together with a nominal control method, it establishes a safety-critical control mechanism. The resulting safety constraints can be enforced as hard constraints in quadratic programming (QP) optimization, which rectifies the nominal control law based on the set of safe inputs. In this work, we introduce a multiple CBFs scheme which enforces several safety constraints with high relative degrees. This control structure is essential in many challenging robotic applications that need to meet several safety criteria simultaneously. In order to illustrate the capabilities of the proposed method, we have addressed the problem of reactive obstacle avoidance for a class of tractor-trailer systems. Safety is one of the fundamental issues in autonomous tractor-trailer systems design. The lack of fast response due to poor maneuverability makes reactive obstacle avoidance difficult for these systems. We develop a control structure based on a multiple CBFs scheme for a multi-steering tractor-trailer system to ensure a collision-free maneuver for both the tractor and trailer in the presence of several obstacles. Model predictive control is selected as the nominal tracking controller, and the proposed control strategy is tested in several challenging scenarios." @default.
• W4315472242 created "2023-01-11" @default.
• W4315472242 creator A5027095473 @default.
• W4315472242 creator A5027835055 @default.
• W4315472242 date "2022-12-06" @default.
• W4315472242 modified "2023-09-26" @default.
• W4315472242 title "Multiple Control Barrier Functions: An Application to Reactive Obstacle Avoidance for a Multi-steering Tractor-trailer System" @default.
• W4315472242 cites W1980569135 @default.
• W4315472242 cites W2151489480 @default.
• W4315472242 cites W2489231587 @default.
• W4315472242 cites W2563129138 @default.
• W4315472242 cites W2591921113 @default.
• W4315472242 cites W2620840602 @default.
• W4315472242 cites W2967099712 @default.
• W4315472242 cites W2968945909 @default.
• W4315472242 cites W3003907021 @default.
• W4315472242 cites W3011713702 @default.
• W4315472242 cites W3098925401 @default.
• W4315472242 cites W3155061166 @default.
• W4315472242 cites W3173005002 @default.
• W4315472242 cites W3195647294 @default.
• W4315472242 cites W3207637958 @default.
• W4315472242 cites W4226081842 @default.
• W4315472242 cites W4292872153 @default.
• W4315472242 cites W4315472242 @default.
• W4315472242 doi "https://doi.org/10.1109/cdc51059.2022.9992820" @default.
• W4315472242 hasPublicationYear "2022" @default.
• W4315472242 type Work @default.
• W4315472242 citedByCount "1" @default.
• W4315472242 countsByYear W43154722422022 @default.
• W4315472242 crossrefType "proceedings-article" @default.
• W4315472242 hasAuthorship W4315472242A5027095473 @default.
• W4315472242 hasAuthorship W4315472242A5027835055 @default.
• W4315472242 hasBestOaLocation W43154722422 @default.
• W4315472242 hasConcept C121704057 @default.
• W4315472242 hasConcept C126255220 @default.
• W4315472242 hasConcept C127413603 @default.
• W4315472242 hasConcept C127757376 @default.
• W4315472242 hasConcept C133731056 @default.
• W4315472242 hasConcept C154945302 @default.
• W4315472242 hasConcept C171146098 @default.
• W4315472242 hasConcept C172205157 @default.
• W4315472242 hasConcept C177264268 @default.
• W4315472242 hasConcept C17744445 @default.
• W4315472242 hasConcept C199360897 @default.
• W4315472242 hasConcept C199539241 @default.
• W4315472242 hasConcept C19966478 @default.
• W4315472242 hasConcept C203479927 @default.
• W4315472242 hasConcept C2775924081 @default.
• W4315472242 hasConcept C2776650193 @default.
• W4315472242 hasConcept C2779101595 @default.
• W4315472242 hasConcept C2780427559 @default.
• W4315472242 hasConcept C2780864053 @default.
• W4315472242 hasConcept C33923547 @default.
• W4315472242 hasConcept C38652104 @default.
• W4315472242 hasConcept C41008148 @default.
• W4315472242 hasConcept C47446073 @default.
• W4315472242 hasConcept C6557445 @default.
• W4315472242 hasConcept C6683253 @default.
• W4315472242 hasConcept C79487989 @default.
• W4315472242 hasConcept C81845259 @default.
• W4315472242 hasConcept C86803240 @default.
• W4315472242 hasConcept C90509273 @default.
• W4315472242 hasConceptScore W4315472242C121704057 @default.
• W4315472242 hasConceptScore W4315472242C126255220 @default.
• W4315472242 hasConceptScore W4315472242C127413603 @default.
• W4315472242 hasConceptScore W4315472242C127757376 @default.
• W4315472242 hasConceptScore W4315472242C133731056 @default.
• W4315472242 hasConceptScore W4315472242C154945302 @default.
• W4315472242 hasConceptScore W4315472242C171146098 @default.
• W4315472242 hasConceptScore W4315472242C172205157 @default.
• W4315472242 hasConceptScore W4315472242C177264268 @default.
• W4315472242 hasConceptScore W4315472242C17744445 @default.
• W4315472242 hasConceptScore W4315472242C199360897 @default.
• W4315472242 hasConceptScore W4315472242C199539241 @default.
• W4315472242 hasConceptScore W4315472242C19966478 @default.
• W4315472242 hasConceptScore W4315472242C203479927 @default.
• W4315472242 hasConceptScore W4315472242C2775924081 @default.
• W4315472242 hasConceptScore W4315472242C2776650193 @default.
• W4315472242 hasConceptScore W4315472242C2779101595 @default.
• W4315472242 hasConceptScore W4315472242C2780427559 @default.
• W4315472242 hasConceptScore W4315472242C2780864053 @default.
• W4315472242 hasConceptScore W4315472242C33923547 @default.
• W4315472242 hasConceptScore W4315472242C38652104 @default.
• W4315472242 hasConceptScore W4315472242C41008148 @default.
• W4315472242 hasConceptScore W4315472242C47446073 @default.
• W4315472242 hasConceptScore W4315472242C6557445 @default.
• W4315472242 hasConceptScore W4315472242C6683253 @default.
• W4315472242 hasConceptScore W4315472242C79487989 @default.
• W4315472242 hasConceptScore W4315472242C81845259 @default.
• W4315472242 hasConceptScore W4315472242C86803240 @default.
• W4315472242 hasConceptScore W4315472242C90509273 @default.
• W4315472242 hasLocation W43154722421 @default.
• W4315472242 hasLocation W43154722422 @default.
• W4315472242 hasOpenAccess W4315472242 @default.
• W4315472242 hasPrimaryLocation W43154722421 @default.
• W4315472242 hasRelatedWork W186216944 @default.
• W4315472242 hasRelatedWork W2120267624 @default.
• W4315472242 hasRelatedWork W2477468554 @default.
• W4315472242 hasRelatedWork W2587321091 @default.

• next