Safe Navigation and Obstacle Avoidance Using Differentiable Optimization Based Control Barrier Functions
Safe Navigation and Obstacle Avoidance Using Differentiable Optimization Based Control Barrier Functions is a scholarly work, published in 2023 in ''IEEE robotics and automation letters''. The main subjects of the publication include differentiable function, mobile robot, obstacle, motion planning, computer science, multi-agent system, robot, intersection, mathematical optimization, obstacle avoidance, Collision avoidance, scaling, Jacobian matrix, and control theory. The authors empirically evaluate the proposed CBF's behavior and show that the resulting optimal control problem is computationally efficient, which makes it applicable for real-time robotic control.