The fourth industrial revolution, also known as Industry 4.0, is reshaping the way individuals
live and work while providing a substantial influence on the manufacturing scenario. The key …

This article proposes the novel concepts of the high-order discrete-time control barrier
function (CBF) and adaptive discrete-time CBF. The high-order discrete-time CBF is used to …

Obstacle avoidance between polytopes is a chal-lenging topic for optimal control and
optimization-based tra-jectory planning problems. Existing work either solves this problem …

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 …

Industrial collaborative robotics is promising for manufacturing activities where the presence
of a robot alongside a human operator can improve operator's working conditions, flexibility …

In modern industrial environments, robots are expected to work close to human operators
collaborating with them in completing various tasks, eg, collaborative assembly or delivery of …

Cobotic workstations in industrial plants involve a new kind of collaborative robots that can
interact with operators. These cobots enable more flexibility and they can reduce the cycle …

We propose a safety control approach based on the online optimal scaling of the size of
bounding volumes used as dynamic safety zones for collaborative robotics. Intersection tests …

The new paradigm of human-robot collaboration has led to the creation of shared work
environments in which humans and robots work in close contact with each other …

Developing controllers for obstacle avoidance between polytopes is a challenging and
necessary problem for navigation in tight spaces. Traditional approaches can only formulate …