27 citations · 29 across the 7 of their papers we have counts for
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cs.RO2021
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…
eess.SY2021★ 27 cited
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…