{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/continuous-reachability-task-transition-using","title":"Continuous Reachability Task Transition Using Control Barrier Functions","arxiv_id":"2005.12407","date":"2020-05-25","proceeding":null,"authors":[],"abstract":"In this paper, a method to achieve smooth transitions between sequential\nreachability tasks for a continuous time mobile robotic system is presented.\nControl barrier functions provide formal guarantees of forward invariance of\nsafe sets and finite-time reachability and are able to enforce task execution.\nBarrier functions used in quadratic programs result in implementation of\ncontrollers with real-time performance guarantees. Existing approaches for\nmulti-objective task execution using control barrier functions leverage\ndiscretely switched, sequential quadratic programs to achieve successive tasks.\nHowever, discrete switching can lead to control input discontinuities which can\naffect a robot's performance. Hence, we propose a method which ensures\ncontinuous transitions between sequential quadratic programs. In particular, a\ntime varying component to the barrier function constraint is introduced which\nallows for a smooth transition between objectives. Robotic implementation\nresults are also provided.","url_abs":"http://arxiv.org/abs/2005.12407v1","url_pdf":"http://arxiv.org/pdf/2005.12407v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"continuous-reachability-task-transition-using","repo_url":"https://github.com/gtfactslab/2020_ContinuousTaskBarriers","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}