21 citations · 25 across the 3 of their papers we have counts for
3 papers
eess.SY2021★ 21 cited
Comparison between safety methods control barrier function vs. reachability analysis
Zhichao Li
This report aims to compare two safety methods: control barrier function and Hamilton-Jacobi reachability analysis. We will consider the difference with a focus on the following as…
eess.SY2020★ 3 cited
Safe Robot Navigation in Cluttered Environments using Invariant Ellipsoids and a Reference Governor
Zhichao Li, Thai Duong, Nikolay Atanasov
This paper considers the problem of safe autonomous navigation in unknown environments, relying on local obstacle sensing. We consider a control-affine nonlinear robot system subje…
cs.RO2020★ 1 cited
Fast and Safe Path-Following Control using a State-Dependent Directional Metric
Zhichao Li, Omur Arslan, Nikolay Atanasov
This paper considers the problem of fast and safe autonomous navigation in partially known environments. Our main contribution is a control policy design based on ellipsoidal traje…