CBFKIT: A Control Barrier Function Toolbox for Robotics Applications
arxiv(2024)
摘要
This paper introduces CBFKit, a Python/ROS toolbox for safe robotics planning
and control under uncertainty. The toolbox provides a general framework for
designing control barrier functions for mobility systems within both
deterministic and stochastic environments. It can be connected to the ROS
open-source robotics middleware, allowing for the setup of multi-robot
applications, encoding of environments and maps, and integrations with
predictive motion planning algorithms. Additionally, it offers multiple CBF
variations and algorithms for robot control. The CBFKit is demonstrated on the
Toyota Human Support Robot (HSR) in both simulation and in physical
experiments.
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