2 papers
cs.RO2024
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…
math.NA2024
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…