GPBF: A Gaussian Process-Driven Adaptive Barrier Functions for Safety-Critical Control of Quadrotors
Abstract: This article addresses the critical challenge of safe control for quadrotor UAVs operating in environments with unknown disturbances. Existing robust control barrier function methods ...
Abstract: This paper generalizes the control barrier function framework by replacing scalar-valued functions with matrix-valued ones. Specifically, we develop barrier conditions for safe sets defined ...
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