21 citations · 21 across the 4 of their papers we have counts for
4 papers · 1 filter
Collision Avoidance for Ellipsoidal Rigid Bodies with Control Barrier Functions Designed from Rotating Supporting Hyperplanes
Riku Funada, Koju Nishimoto, Tatsuya Ibuki +1
This paper proposes a collision avoidance method for ellipsoidal rigid bodies, which utilizes a control barrier function (CBF) designed from a supporting hyperplane. We formulate t…
Collision Avoidance for Elliptical Agents with Control Barrier Function Utilizing Supporting Lines
Koju Nishimoto, Riku Funada, Tatsuya Ibuki +1
This paper presents a collision avoidance method for elliptical agents traveling in a two-dimensional space. We first formulate a separation condition for two elliptical agents uti…
Gaussian Control Barrier Functions : A Non-Parametric Paradigm to Safety
Mouhyemen Khan, Tatsuya Ibuki, Abhijit Chatterjee
Inspired by the success of control barrier functions (CBFs) in addressing safety, and the rise of data-driven techniques for modeling functions, we propose a non-parametric approac…
Distributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach
Tatsuya Ibuki, Sean Wilson, Aaron D. Ames +1
This letter studies a distributed collision avoidance control problem for a group of rigid bodies on a sphere. A rigid body network, consisting of multiple rigid bodies constrained…