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insight - Safety-Critical Control Framework
Ensuring Safety in Fixed-wing Aircraft with Collision Avoidance and Geofencing
The author establishes a safety-critical control framework for fixed-wing aircraft, focusing on collision avoidance and geofencing tasks using Control Barrier Functions (CBFs) to ensure safe behavior.
A Learning-Based Framework for Safe Human-Robot Collaboration with Multiple Backup Control Barrier Functions
The author presents a safety-critical control framework leveraging learning-based switching between multiple backup controllers to ensure robot safety under bounded control inputs while adhering to driver intention.