Tamás G. Molnár

2 accepted papers

2022

Model-Free Safety-Critical Control for Robotic Systems

Tamás G. Molnár, Ryan K. Cosner, Andrew W. Singletary, Wyatt Ubellacker, Aaron D. Ames

RA-L 2022

This letter presents a framework for the safety-critical control of robotic systems, when safety is defined on safe regions in the configuration space. To maintain safety, we synthesize a safe velocity based on control barrier function theory without relying on a – potentially complicated &#x

Cited by 132 Source ↗Scholar ↗

2022

Safety-Critical Manipulation for Collision-Free Food Preparation

Andrew Singletary, William Guffey, Tamás G. Molnár, Ryan W. Sinnet, Aaron D. Ames

RA-L 2022

Recent advances allow for the automation of food preparation in high-throughput environments, yet the successful deployment of these robots requires the planning and execution of quick, robust, and ultimately collision-free behaviors. In this work, we showcase a novel framework for modifying previou

Cited by 63 Source ↗Scholar ↗