3 papers
eess.SY2025
A Predictive Cooperative Collision Avoidance for Multi-Robot Systems Using Control Barrier Function
Xiaoxiao Li, Zhirui Sun, Hongpeng Wang +2
Control barrier function (CBF)-based methods provide the minimum modification necessary to formally guarantee safety in the context of quadratic programming, and strict safety guar…
cs.RO2025
Collision Risk Quantification and Conflict Resolution in Trajectory Tracking for Acceleration-Actuated Multi-Robot Systems
Xiaoxiao Li, Zhirui Sun, Mansha Zheng +3
One of the pivotal challenges in a multi-robot system is how to give attention to accuracy and efficiency while ensuring safety. Prior arts cannot strictly guarantee collision-free…
cs.RO2024
NAMR-RRT: Neural Adaptive Motion Planning for Mobile Robots in Dynamic Environments
Zhirui Sun, Bingyi Xia, Peijia Xie +2
Robots are increasingly deployed in dynamic and crowded environments, such as urban areas and shopping malls, where efficient and robust navigation is crucial. Traditional risk-bas…