Safe Motion Planning and Control
Optimization-based planning and control with safety guarantees.
Different systems operate in environments where safety-critical solutions are required. That is the case for instance of ASVs operating in inland waterways, or AMRs in unstructured spaces, as they must deal with narrow environments where maneuverability is essential and complex. Model predictive control (MPC) has been widely used for motion planning and control, but it does not provide any formal safety guarantees and the complexity may explode with the number of obstacles or complex constraints. Control barrier functions (CBFs) have been proposed to formally guarantee safety. Thus, designing hybrid frameworks combining MPC and CBFs is a promising way to achieve safety, both against enviornmental disturbances and throguh narrow channels.
Related Publications
2026
- Safe and Time-Minimal Control for Overhead Cranes based on MPC and Control Barrier Functions2026Accepted to IEEE CCTA 2026
