Showing 2024Show all
2 papers · 1 filter
cs.RO2024
Collaborative Safety-Critical Formation Control with Obstacle Avoidance
Brooks A. Butler, Chi Ho Leung, Philip E. Paré
This work explores a collaborative method for ensuring safety in multi-agent formation control problems. We formulate a control barrier function (CBF) based safety filter control l…
eess.SY2024
Online Identification of Time-Varying Systems Using Excitation Sets and Change Point Detection
Chi Ho Leung, Ashish R. Hota, Philip E. Paré
In this work, we first show that the problem of parameter identification is often ill-conditioned and lacks the persistence of excitation required for the convergence of online lea…