Collision Cone Control Barrier Functions

2025

1. TCST

   

   A collision cone approach for control barrier functions

   Manan Tayal, Bhavya Giri Goswami, Karthik Rajgopal, Rajpal Singh, Tejas Rao, Jishnu Keshavan, Pushpak Jagtap, and Shishir Kolathaya

   In Transactions on Control Systems Technology (TCST), 2025

   arXiv Bib Website

   @inproceedings{tayal2024collision,
     title = {A collision cone approach for control barrier functions},
     author = {Tayal, Manan and Goswami, Bhavya Giri and Rajgopal, Karthik and Singh, Rajpal and Rao, Tejas and Keshavan, Jishnu and Jagtap, Pushpak and Kolathaya, Shishir},
     journal = {Transactions on Control Systems Technology (TCST)},
     booktitle = {Transactions on Control Systems Technology (TCST)},
     year = {2025}
   }

2024

1. ACC

   

   Control Barrier Functions in Dynamic UAVs for Kinematic Obstacle Avoidance: A Collision Cone Approach

   Manan Tayal, Rajpal Singh, Jishnu Keshavan, and Shishir Kolathaya

   In 2024 American Control Conference (ACC), 2024

   DOI arXiv Bib Website

   @inproceedings{tayal2024control,
     author = {Tayal, Manan and Singh, Rajpal and Keshavan, Jishnu and Kolathaya, Shishir},
     booktitle = {2024 American Control Conference (ACC)},
     title = {Control Barrier Functions in Dynamic UAVs for Kinematic Obstacle Avoidance: A Collision Cone Approach},
     year = {2024},
     pages = {3722-3727},
     doi = {10.23919/ACC60939.2024.10644548},
   }

2. ACC

   

   Collision Cone Control Barrier Functions: Experimental Validation on UGVs for Kinematic Obstacle Avoidance

   Bhavya Giri Goswami^*, Manan Tayal^*, Karthik Rajgopal, Pushpak Jagtap, and Shishir Kolathaya

   In 2024 American Control Conference (ACC), 2024

   DOI arXiv Bib Website

   @inproceedings{goswami2024collision,
     author = {Goswami, Bhavya Giri and Tayal, Manan and Rajgopal, Karthik and Jagtap, Pushpak and Kolathaya, Shishir},
     booktitle = {2024 American Control Conference (ACC)},
     title = {Collision Cone Control Barrier Functions: Experimental Validation on UGVs for Kinematic Obstacle Avoidance},
     year = {2024},
     pages = {325-331},
     doi = {10.23919/ACC60939.2024.10644338},
   }

3. ECC

   

   Polygonal Cone Control Barrier Functions (PolyC2BF) for Safe Navigation in Cluttered Environments

   Manan Tayal and Shishir Kolathaya

   In 2024 European Control Conference (ECC), 2024

   DOI arXiv Bib Website

   @inproceedings{tayal2024polygonal,
     title = {Polygonal Cone Control Barrier Functions (PolyC2BF) for Safe Navigation in Cluttered Environments},
     author = {Tayal, Manan and Kolathaya, Shishir},
     booktitle = {2024 European Control Conference (ECC)},
     pages = {2212--2217},
     year = {2024},
     organization = {IEEE},
     doi = {10.23919/ECC64448.2024.10591026}
   }

2023

1. ICC

   

   Collision cone control barrier functions for kinematic obstacle avoidance in ugvs

   Phani Thontepu^*, Bhavya Giri Goswami^*, Manan Tayal^*, Neelaksh Singh, Shyam Sundar PI, Shyam Sundar MG, Suresh Sundaram, Vaibhav Katewa, and Shishir Kolathaya

   In 2023 Ninth Indian Control Conference (ICC), 2023

   arXiv Bib

   @inproceedings{thontepu2023collision,
     title = {Collision cone control barrier functions for kinematic obstacle avoidance in ugvs},
     author = {Thontepu, Phani and Goswami, Bhavya Giri and Tayal, Manan and Singh, Neelaksh and PI, Shyam Sundar and MG, Shyam Sundar and Sundaram, Suresh and Katewa, Vaibhav and Kolathaya, Shishir},
     booktitle = {2023 Ninth Indian Control Conference (ICC)},
     pages = {293--298},
     year = {2023},
     organization = {IEEE}
   }