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math.NA2023★ 1 cited
Lie Group Variational Collision Integrators for a Class of Hybrid Systems
Khoa Tran, Melvin Leok
The problem of 3-dimensional, convex rigid-body collision over a plane is fully investigated; this includes bodies with sharp corners that is resolved without the need for nonsmoot…
cs.RO2023
Safe Stabilizing Control for Polygonal Robots in Dynamic Elliptical Environments
Kehan Long, Khoa Tran, Melvin Leok +1
This paper addresses the challenge of safe navigation for rigid-body mobile robots in dynamic environments. We introduce an analytic approach to compute the distance between a poly…