27 citations · 29 across the 7 of their papers we have counts for
7 papers
A Ray Intersection Algorithm for Fast Growth Distance Computation Between Convex Sets
Akshay Thirugnanam, Koushil Sreenath
In this paper, we discuss an efficient algorithm for computing the growth distance between two compact convex sets with representable support functions. The growth distance between…
Dynamic Incentive Selection for Hierarchical Convex Model Predictive Control
Akshay Thirugnanam, Koushil Sreenath
In this paper, we discuss incentive design for hierarchical model predictive control (MPC) systems viewed as Stackelberg games. We consider a hierarchical MPC formulation where, gi…
Control Barrier Functions for Collision Avoidance Between Strongly Convex Regions
Akshay Thirugnanam, Jun Zeng, Koushil Sreenath
In this paper, we focus on non-conservative collision avoidance between robots and obstacles with control affine dynamics and convex shapes. System safety is defined using the mini…
Walking in Narrow Spaces: Safety-critical Locomotion Control for Quadrupedal Robots with Duality-based Optimization
Qiayuan Liao, Zhongyu Li, Akshay Thirugnanam +2
This paper presents a safety-critical locomotion control framework for quadrupedal robots. Our goal is to enable quadrupedal robots to safely navigate in cluttered environments. To…
Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models
Zhongyu Li, Jun Zeng, Akshay Thirugnanam +1
Bridging model-based safety and model-free reinforcement learning (RL) for dynamic robots is appealing since model-based methods are able to provide formal safety guarantees, while…
Safety-Critical Control and Planning for Obstacle Avoidance between Polytopes with Control Barrier Functions
Akshay Thirugnanam, Jun Zeng, Koushil Sreenath
Obstacle avoidance between polytopes is a challenging topic for optimal control and optimization-based trajectory planning problems. Existing work either solves this problem throug…
Duality-based Convex Optimization for Real-time Obstacle Avoidance between Polytopes with Control Barrier Functions
Akshay Thirugnanam, Jun Zeng, Koushil Sreenath
Developing controllers for obstacle avoidance between polytopes is a challenging and necessary problem for navigation in tight spaces. Traditional approaches can only formulate the…