4 papers
N-dimensional Convex Obstacle Avoidance using Hybrid Feedback Control (Extended version)
Mayur Sawant, Ilia Polushin, Abdelhamid Tayebi
This paper addresses the autonomous robot navigation problem in a priori unknown n-dimensional environments containing disjoint convex obstacles of arbitrary shapes and sizes, with…
Dynamic Constrained Stabilization on the n-sphere
Mayur Sawant, Abdelhamid Tayebi
We consider the constrained stabilization problem of second-order systems evolving on the n-sphere. We propose a control strategy with a constraint proximity-based dynamic damping…
Constrained Stabilization on the n-Sphere with Conic and Star-shaped Constraints
Mayur Sawant, Abdelhamid Tayebi
The problem of constrained stabilization on the n-sphere under star-shaped constraints is considered. We propose a control strategy that allows one to almost globally steer the sta…
Extending First-order Robotic Motion Planners to Second-order Robot Dynamics
Mayur Sawant, Abdelhamid Tayebi
This paper extends first-order motion planners to robots governed by second-order dynamics. Two control schemes are proposed based on the knowledge of a scalar function whose negat…