2 papers
cs.RO2021
Risk-Aware Motion Planning in Partially Known Environments
Fernando S. Barbosa, Bruno Lacerda, Paul Duckworth +2
Recent trends envisage robots being deployed in areas deemed dangerous to humans, such as buildings with gas and radiation leaks. In such situations, the model of the underlying ha…
math.OC2020
Provably Safe Control of Lagrangian Systems in Obstacle-Scattered Environments
Fernando S. Barbosa, Lars Lindemann, Dimos V. Dimarogonas +1
We propose a hybrid feedback control law that guarantees both safety and asymptotic stability for a class of Lagrangian systems in environments with obstacles. Rather than performi…