7 citations · 19 across the 5 of their papers we have counts for
8 papers · 1 filter
Path Planning for Concentric Tube Robots: a Toolchain with Application to Stereotactic Neurosurgery
Matthias K. Hoffmann, Willem Esterhuizen, Karl Worthmann +1
We present a toolchain for solving path planning problems for concentric tube robots through obstacle fields. First, ellipsoidal sets representing the target area and obstacles are…
Barriers and Potentially Safe Sets in Hybrid Systems: Pendulum with Non-Rigid Cable
Willem Esterhuizen, Jean Lévine
This paper deals with an application of the notion of barrier in mixed constrained nonlinear systems to an example of a pendulum mounted on a cart with non-rigid cable, whose dynam…
Control Design with Guaranteed Transient Performance: an Approach with Polyhedral Target Tubes
Willem Esterhuizen, Qing-Guo Wang
In this paper a novel approach is presented for control design with guaranteed transient performance for multiple-input multiple-output discrete-time linear polytopic difference in…
Transient Stability Analysis of Power Grids with Admissible and Maximal Robust Positively Invariant Sets
Tim Aschenbruck, Willem Esterhuizen, Stefan Streif
The energy transition is causing many stability-related challenges for power systems. Transient stability refers to the ability of a power grid's bus angles to retain synchronism a…
Maintaining Hard Infection Caps in Epidemics via the Theory of Barriers
Willem Esterhuizen, Tim Aschenbruck, Jean Lévine +1
Research in epidemiology often focusses on designing interventions that result in the number of infected individuals asymptotically approaching zero, without considering that this…
Sustainability Analysis of Interconnected Food Production Systems via Theory of Barriers
Tim Aschenbruck, Willem Esterhuizen, Murali Padmanabha +1
Controlled environment agriculture (CEA) is used for efficient food production. Efficiency can be increased further by interconnecting different CEA systems (e.g. plants and insect…