Papers › Continuous Reachability Task Transition Using Control Barrier Functions
Continuous Reachability Task Transition Using Control Barrier Functions
In this paper, a method to achieve smooth transitions between sequential reachability tasks for a continuous time mobile robotic system is presented. Control barrier functions provide formal guarantees of forward invariance of safe sets and finite-time reachability and are able to enforce task execution. Barrier functions used in quadratic programs result in implementation of controllers with real-time performance guarantees. Existing approaches for multi-objective task execution using control barrier functions leverage discretely switched, sequential quadratic programs to achieve successive tasks. However, discrete switching can lead to control input discontinuities which can affect a robot's performance. Hence, we propose a method which ensures continuous transitions between sequential quadratic programs. In particular, a time varying component to the barrier function constraint is introduced which allows for a smooth transition between objectives. Robotic implementation results are also provided.
Code
Repository list and official/mentioned flags are the archive's, frozen 2025-07-28. Reachability, where shown, is from one Syntology probe window (2026-09-16 to 2026-09-18); repositories not probed show nothing. GitHub stars are not tracked.
Code Syntology ran Syntology
Not run by Syntology. Nothing on this page verifies that the listed code works.
Results from the paper archive 2025-07-28
No leaderboard rows for this paper in the archive.
Report a problem or propose a change · a person checks every report against the paper or source before anything changes; decisions are listed on /corrections