2.5k citations · 3.4k across the 22 of their papers we have counts for
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3 papers · 1 filter
math.OC2021★ 36 cited
Flatness-based Quadcopter Trajectory Planning and Tracking with Continuous-time Safety Guarantees
Victor Freire, Xiangru Xu
This work presents a convex optimization framework for the planning and tracking of quadcopter trajectories with continuous-time safety guarantees. Using B-spline basis functions a…
math.OC2021★ 27 cited
Observer-based Control Barrier Functions for Safety Critical Systems
Yujie Wang, Xiangru Xu
This paper considers the safety-critical control design problem with output measurements. An observer-based safety control framework that integrates the estimation error quantified…
math.OC2021★ 15 cited
Control Barrier Function Meets Interval Analysis: Safety-Critical Control with Measurement and Actuation Uncertainties
Yuhao Zhang, Sequoyah Walters, Xiangru Xu
This paper presents a framework for designing provably safe feedback controllers for sampled-data control affine systems with measurement and actuation uncertainties. Based on the…