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cs.RO2025
Efficient and Real-Time Motion Planning for Robotics Using Projection-Based Optimization
Xuemin Chi, Hakan Girgin, Tobias Löw +6
Generating motions for robots interacting with objects of various shapes is a complex challenge, further complicated by the robot geometry and multiple desired behaviors. While cur…
cs.RO2025
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(…
cs.RO2025
FSDP: Fast and Safe Data-Driven Overtaking Trajectory Planning for Head-to-Head Autonomous Racing Competitions
Cheng Hu, Jihao Huang, Wule Mao +7
Generating overtaking trajectories in autonomous racing is a challenging task, as the trajectory must satisfy the vehicle's dynamics and ensure safety and real-time performance run…