1 citations · 1 across the 12 of their papers we have counts for
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Dynamic Collision Avoidance Using Velocity Obstacle-Based Control Barrier Functions
Jihao Huang, Jun Zeng, Xuemin Chi +3
Designing safety-critical controllers for acceleration-controlled unicycle robots is challenging, as control inputs may not appear in the constraints of control Lyapunov functions(…
Safe Dynamic Motion Generation in Configuration Space Using Differentiable Distance Fields
Xuemin Chi, Yiming Li, Jihao Huang +3
Generating collision-free motions in dynamic environments is a challenging problem for high-dimensional robotics, particularly under real-time constraints. Control Barrier Function…
GeoPro-VO: Dynamic Obstacle Avoidance with Geometric Projector Based on Velocity Obstacle
Jihao Huang, Xuemin Chi, Jun Zeng +2
Optimization-based approaches are widely employed to generate optimal robot motions while considering various constraints, such as robot dynamics, collision avoidance, and physical…
Whole-body Dynamic Collision Avoidance with Time-varying Control Barrier Functions
Jihao Huang, Xuemin Chi, Zhitao Liu +1
Recently, there has been increasing attention in robot research towards the whole-body collision avoidance. In this paper, we propose a safety-critical controller that utilizes tim…
Fast Path Planning for Autonomous Vehicle Parking with Safety-Guarantee using Hamilton-Jacobi Reachability
Xuemin Chi, Jun Zeng, Jihao Huang +2
We present a fast planning architecture called Hamilton-Jacobi-based bidirectional A* (HJBA*) to solve general tight parking scenarios. The algorithm is a two-layer composed of a h…
Geometric Projectors: Geometric Constraints based Optimization for Robot Behaviors
Xuemin Chi, Tobias Löw, Yiming Li +2
Generating motion for robots that interact with objects of various shapes is a complex challenge, further complicated when the robot's own geometry and multiple desired behaviors a…
Obstacle Avoidance for Unicycle-Modelled Mobile Robots with Time-varying Control Barrier Functions
Jihao Huang, Zhitao Liu, Jun Zeng +2
In this paper, we propose a safety-critical controller based on time-varying control barrier functions (CBFs) for a robot with an unicycle model in the continuous-time domain to ac…
Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-robot Systems
Jihao Huang, Jun Zeng, Xuemin Chi +3
Obstacle avoidance for multi-robot navigation with polytopic shapes is challenging. Existing works simplify the system dynamics or consider it as a convex or non-convex optimizatio…
Search-Based Path Planning Algorithm for Autonomous Parking:Multi-Heuristic Hybrid A*
Jihao Huang, Zhitao Liu, Xuemin Chi +2
This paper proposed a novel method for autonomous parking. Autonomous parking has received a lot of attention because of its convenience, but due to the complex environment and the…
Optimization-based Motion Planning for Autonomous Parking Considering Dynamic Obstacle: A Hierarchical Framework
Xuemin Chi, Zhitao Liu, Jihao Huang +2
This paper introduces a hierarchical framework that integrates graph search algorithms and model predictive control to facilitate efficient parking maneuvers for Autonomous Vehicle…