2 papers
math.DS2022
Technical Report on Optimal Linear Multiple Estimation for Landmark-Based Planning via Control Synthesis
Chenfei Wang, Roberto Tron
A common way to implement navigation in mobile robots is through the use of landmarks. In this case, the main goal of the controller is to make progress toward a goal location (sta…
math.OC2020
Chance Constraint Robust Control with Control Barrier Functions
Chenfei Wang, Mahroo Bahreinian, Roberto Tron
In this paper, we propose a novel approach to synthesize linear feedback controllers for navigating in polygonal environments using noisy measurements and a convex cell decompositi…