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Safety and Efficiency in Robotics: The Control Barrier Functions Approach

Ferraguti, Federica and Talignani Landi, Chiara and Singletary, Andrew and Lin, Hsien-Chung and Ames, Aaron and Secchi, Cristian and Bonfe, Marcello (2022) Safety and Efficiency in Robotics: The Control Barrier Functions Approach. IEEE Robotics and Automation Magazine . ISSN 1070-9932. doi:10.1109/mra.2022.3174699. (In Press) https://resolver.caltech.edu/CaltechAUTHORS:20220614-222253000

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Abstract

This article aims at presenting an introductory overview of the theoretical framework of control barrier functions (CBFs) and of their application to the design of safety-related controllers for robotic systems. The article starts by describing the basic concepts of CBFs and how they can be used to build optimization problems embedding CBF-based constraints, whose solutions correspond to the control input enforcing the desired safety properties into the behavior of the controlled system. Simple examples, understandable for readers with a basic background in control theory and accompanied with source code for their simulation, are used to highlight the appealing features of the CBF-based approach. Then, more complex formulations applicable to robotic manipulators are introduced, recalling recent literature results allowing users to implement a robust design methodology. Finally, it is shown that CBFs are suitable for the implementation of safe human–robot collaboration in a realistic industrial scenario by means of the experimental validation in an industrial setup for collaborative robotics.


Item Type:Article
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/MRA.2022.3174699DOIArticle
ORCID:
AuthorORCID
Ferraguti, Federica0000-0002-4989-1567
Talignani Landi, Chiara0000-0002-4740-0103
Singletary, Andrew0000-0001-6635-4256
Lin, Hsien-Chung0000-0001-7562-9725
Ames, Aaron0000-0003-0848-3177
Secchi, Cristian0000-0002-2098-0099
Bonfe, Marcello0000-0002-6065-9769
Additional Information:© 2022 IEEE. The authors would like to thank FANUC America Corporation; Tetsuaki Kato, the general manager of the FANUC Advanced Research Laboratory; and Jason Tsai, the advisor of the FANUC Advanced Research Laboratory.
Funders:
Funding AgencyGrant Number
FANUC America CorporationUNSPECIFIED
DOI:10.1109/mra.2022.3174699
Record Number:CaltechAUTHORS:20220614-222253000
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20220614-222253000
Official Citation:F. Ferraguti et al., "Safety and Efficiency in Robotics: The Control Barrier Functions Approach," in IEEE Robotics & Automation Magazine, doi: 10.1109/MRA.2022.3174699.
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:115151
Collection:CaltechAUTHORS
Deposited By: George Porter
Deposited On:14 Jun 2022 20:42
Last Modified:14 Jun 2022 20:42

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