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cs.RO2023
Distributed Hierarchical Distribution Control for Very-Large-Scale Clustered Multi-Agent Systems
Augustinos D. Saravanos, Yihui Li, Evangelos A. Theodorou
As the scale and complexity of multi-agent robotic systems are subject to a continuous increase, this paper considers a class of systems labeled as Very-Large-Scale Multi-Agent Sys…
cs.RO2023
Improved Exploration for Safety-Embedded Differential Dynamic Programming Using Tolerant Barrier States
Joshua E. Kuperman, Hassan Almubarak, Augustinos D. Saravanos +1
In this paper, we introduce Tolerant Discrete Barrier States (T-DBaS), a novel safety-embedding technique for trajectory optimization with enhanced exploratory capabilities. The pr…