21 citations · 25 across the 6 of their papers we have counts for
6 papers
EAST: Environment Aware Safe Tracking using Planning and Control Co-Design
Zhichao Li, Yinzhuang Yi, Zhuolin Niu +1
This paper considers the problem of autonomous mobile robot navigation in unknown environments with moving obstacles. We propose a new method to achieve environment-aware safe trac…
Robust and Safe Autonomous Navigation for Systems with Learned SE(3) Hamiltonian Dynamics
Zhichao Li, Thai Duong, Nikolay Atanasov
Stability and safety are critical properties for successful deployment of automatic control systems. As a motivating example, consider autonomous mobile robot navigation in a compl…
Safe Autonomous Navigation for Systems with Learned SE(3) Hamiltonian Dynamics
Zhichao Li, Thai Duong, Nikolay Atanasov
Safe autonomous navigation in unknown environments is an important problem for mobile robots. This paper proposes techniques to learn the dynamics model of a mobile robot from traj…
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…
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…
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…