A new paper on circulation-embedded control barrier function for safe navigation was accepted to Robotics and Autonomous Systems

The work of doctoral researcher Shaghayegh on circulation-embedded control barrier function was accepted to Robotics and Autonomous Systems. The work proposed a practical solution with theoretical guarantee to address fundamental issues related to control barrier function for safe navigation such as deadlocks, slowdown behavior around the undesired equilibrium points, dysfunctional circulation, and becoming trapped in the non-convex obstacle. Moreover, the proposed solution also solved the deadlock in the safe navigation of multi-robot systems.