2 citations · 3 across the 16 of their papers we have counts for
5 papers · 1 filter
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…