1 citations · 2 across the 9 of their papers we have counts for
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FLASH-CBF-RRT: Fast Lipschitz-Adaptive Safe Horizon CBF Steering for Certified Motion Planning
Mani Amani, Hesam Mojtahedi, Reza Akhavian +2
Fast motion planning requires both sample-efficient exploration and computationally efficient local steering. Conventional straight-line steering is inexpensive but wastes samples…
BubbleCBF: Constructive Safety for Second-Order Systems and Application to Autonomous Robot Navigation in Unknown Environments
Mani Amani, Mohammed Alyaseen, Zhirui Dai +3
Satisfying safety constraints for systems with second-order dynamics is challenging because a position constraint may require infeasible deceleration. Higher-order control barrier…
Kernel-SDF: An Open-Source Library for Real-Time Signed Distance Function Estimation using Kernel Regression
Zhirui Dai, Tianxing Fan, Mani Amani +4
Accurate and efficient scene representation is crucial for robotic tasks such as motion planning, manipulation, and navigation. Signed distance functions (SDFs) have emerged as a p…