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cs.RO2026
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…
cs.RO2023
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…
cs.RO2022
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…